Input: Tasks list , Robots list ,
    Distances between tasks
Output: Optimal allocation
(1) Define: Parents list, , Children list
, Next generation list ,
 Number of iterations , Elitism percent
, Population size , Current
 allocation , Optimal allocation
(2) for     to     do
(3)   generateValidSolution ( ,
   , )
(4) end
(5) Minimum ( )
(6) for     to     do
(7)  if   25%   then
(8)      = 20%
(9)  else if   50% 25%
      then
(10)     = 30%
(11)   else if   75% 50%
      then
(12)    = 40%
(13)   else
(14)     = 50%
(15)   end
(16)    crossover (The minimum 10% of
    )
(17)    mutation (The maximum 90% of
   )
(18)    The minimum of
  
(19)    The minimum of
  
(20)  for     to   of
     do
(21)    
    generateValidSolution ( , ,
     )
(22)  end
(23)  if  Minimum ( )   then
(24)      Minimum ( )
(25)  end
(26)  
(27) end
(28)
Algorithm 2: GA-based MRTA.