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

Table 1

Testing environments with obstacles.

Name	Dimensions	Area [m^2]
jari		20	48	1	14
complex2		322	40	3	21
m1		20	51	4	26
m2		15	51	6	20
map		14	68	8	36
potholes		367	153	23	75
rooms		351	80	0	33
a		71	99	6	22
dense		299	288	32	150
m3		17	308	50	120
warehouse		1192	142	24	83
jh		455	196	9	77
pb		1453	89	3	41
ta		731	74	2	30
h2		2816	2062	34	476