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

Table 2

Sets of problems.

(a) Small set

Problem
jari	6
complex2	8
m1	11
m2	12
map	18
potholes	18
rooms	21
a	22

(b) Middle set

Problem
dense4	53
potholes2	68
m31	71
warehouse4	79
jh2	80
pb4	105
ta2	141
h25	168

(c) Large set

Problem
potholes1	282
jh1	356
pb1.5	415
h22	568
ta1	574