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

Figure 7

Examples of found solutions by the GENIUS-quality and SOM-based algorithm. : length of the longest tour, : Cooperative Ratio, : Collaborative Effort. (a, d) potholes, four salesmen; (b, e) m3, four salesmen; (c, f) jh, three salesmen; (g, h) h2, five salesmen.

(a) GENIUS, = 46.3 m, = 1.5%, and = 182.7 m

(b) GENIUS, = 11.7 m, = 1.6%, and = 46.1 m

(c) GENIUS, = 80.5 m, = 0.4%, and = 240.3 m

(d) SOM, = 46.1 m, = 6.0%, and = 172.8 m

(e) SOM, = 11.6 m, = 3.4%, and = 44.8 m

(f) SOM, = 81.7 m, = 5.1%, and = 231.2 m

(g) GENIUS, = 253.06 m, = 0.3%, and = 1261.9 m

(h) SOM, = 275.4 m, = 13.6%, and = 1147.0 m