3.The number of nodes for NOPRUNE up to eight agents were obtained from experiments, the rest can be calculated using the formula [m]ⁿ∕n! = (m + n- 1) ⋅…⋅m∕n!, where m represents the number of heterogeneous role types and n is the number of homogeneous agents. [m]ⁿ = (m + n - 1) ⋅… ⋅ m is referred to as a rising factorial.