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

Table 5

MTSP results, .

Problem	[m]	GENIUS-quality			GENIUS-fast			SOM-nn			SOM-cc
		PDM	PDB	[s]	PDM	PDB	[s]	PDM	PDB	[s]	PDM	PDB	[s]
dense4	69.3	3.77	0.41	110.3	8.88	2.99	1.6	11.99	1.83	4.3	13.43	0.00	3.8
potholes2	58.3	3.03	0.00	185.1	7.44	3.38	1.9	7.23	0.76	6.1	11.58	3.22	5.6
m31	14.8	4.65	0.00	210.5	8.95	2.92	2.3	9.68	0.02	7.3	9.42	0.76	6.4
	138.5	5.35	2.13	232.1	9.48	2.80	2.7	10.31	0.00	7.6	8.06	1.23	6.9
	153.6	3.10	0.00	271.2	7.57	1.32	3.0	16.58	5.10	7.9	12.65	1.28	6.9
	80.5	5.88	0.00	282.9	11.22	6.12	3.2	18.65	15.86	8.4	14.37	1.54	7.9
	77.8	5.06	1.21	332.6	11.50	5.56	3.0	5.97	0.19	8.7	6.45	0.00	7.7
	281.4	4.45	0.00	575.0	10.61	2.58	5.5	10.99	6.50	9.8	10.15	2.57	8.9
	129.0	10.22	0.00	1 326.4	20.07	7.36	13.1	8.89	3.33	16.8	6.06	3.29	16.1
	344.3	10.35	1.91	1 635.5	16.70	6.97	18.2	6.43	0.00	58.1	3.81	0.08	52.8
	345.4	10.94	0.00	1 921.4	18.67	9.74	17.5	16.22	11.13	59.1	13.95	5.25	53.1
	97.9	5.18	3.78	5 961.2	10.62	4.85	61.5	6.87	1.22	108.5	6.96	0.00	104.4
	133.0	3.89	0.00	8 397.0	12.77	9.10	86.8	12.78	7.01	184.3	8.93	3.62	172.4
	130.3	4.67	1.95	7 978.1	13.40	7.91	94.5	5.11	0.00	171.9	4.27	0.05	165.5
	338.7	5.96	0.00	15 727.8	13.45	3.49	224.5	4.98	2.31	163.3	5.95	2.27	154.7
	462.9	10.90	6.57	19 237.8	19.22	11.23	281.8	13.35	2.57	627.4	7.96	0.00	594.0
	478.2	10.18	4.88	24 803.6	16.85	10.33	411.6	4.40	0.91	625.6	3.32	0.00	604.1
	202.4	6.00	0.13	32 541.3	14.00	7.31	459.6	16.97	5.05	310.3	6.71	0.00	296.2