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

Figure 5

An example of SOM evolution in ; small standalone disks represent cities and connected disks represent nodes that form rings and finally the tours.

(a) Learning epoch 3

(b) Learning epoch 10

(c) Learning epoch 17

(d) Learning epoch 24

(e) Learning epoch 30

(f) Learning epoch 36

(g) Learning epoch 40

(h) Learning epoch 46

(i) Learning epoch 52

(j) Learning epoch 55

(k) Learning epoch 60

(l) Learning epoch 79, the final found solution