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

Table 3

Overall performance of GENIUS in the MTSP and variants of the parameters.

(a) Problem set middle

	GENIUS-quality			GENIUS-fast
	LR	CQ	CER	LR	CQ	CER
2	1.04	0.003	1.04	1.07	0.003	1.07
3	1.06	0.005	1.06	1.11	0.006	1.11
4	1.06	0.007	1.06	1.14	0.011	1.14
5	1.06	0.010	1.06	1.17	0.015	1.16

(b) Problem set large

	GENIUS-quality			GENIUS-fast
	LR	CQ	CER	LR	CQ	CER
2	1.04	0.000	1.04	1.08	0.001	1.08
3	1.04	0.001	1.04	1.12	0.001	1.12
4	1.06	0.002	1.06	1.15	0.002	1.15
5	1.05	0.003	1.05	1.15	0.004	1.15