An Application of Self-Organizing Map for Multirobot Multigoal Path Planning with Minmax Objective

Figure 2

An example of SOM [16] evolution at the particular learning epochs in an instance of the MTSP-Minmax without obstacles.

(a) Epoch 36

(b) Epoch 41

(c) Epoch 45

(d) Epoch 51

(e) Epoch 63

(f) Epoch 74, the final solution