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

Table 6

MTSP results, .

Problem	[m]	GENIUS-quality			GENIUS-fast			SOM-nn			SOM-cc
		PDM	PDB	[s]	PDM	PDB	[s]	PDM	PDB	[s]	PDM	PDB	[s]
	48.8	5.25	0.00	50.4	16.10	5.07	1.2	24.16	13.97	4.0	21.30	11.73	3.6
	38.5	6.55	0.00	126.9	16.58	6.21	1.3	13.39	2.87	5.9	12.25	2.51	5.4
	9.9	8.13	0.00	155.9	19.56	10.82	1.7	8.92	2.97	6.5	6.24	2.95	5.8
	96.8	4.63	0.08	195.0	13.41	3.53	1.7	11.85	1.51	6.9	8.76	0.00	6.4
	123.6	2.92	0.00	188.5	10.01	5.95	1.8	22.85	11.92	7.1	18.03	9.06	6.6
	62.2	3.61	0.00	259.2	11.34	5.48	2.0	17.47	8.82	8.0	17.16	10.82	7.3
	54.6	5.39	0.97	213.8	16.13	6.35	1.9	17.30	0.00	7.9	13.68	1.91	7.2
	210.0	11.31	0.00	358.9	23.30	5.85	3.1	23.20	5.73	9.1	12.49	2.16	8.4
	105.4	4.91	0.00	806.0	19.10	9.70	6.7	13.50	13.02	15.5	13.63	13.02	14.9
	230.7	8.50	0.00	1 288.8	23.62	9.48	11.5	13.16	7.53	53.9	11.98	5.64	49.0
	253.1	7.93	0.00	1 287.6	18.91	11.22	11.2	21.62	18.68	54.4	18.07	8.82	51.6
	63.9	5.32	1.10	3 574.6	13.36	8.00	35.4	8.03	1.27	100.9	4.60	0.00	98.1
	92.3	4.87	0.00	7 057.5	14.99	9.42	78.9	18.04	7.79	164.2	10.86	2.25	155.6
	86.6	6.50	1.47	7 157.7	16.93	8.96	71.7	13.12	9.08	160.0	7.80	0.00	154.2
	246.6	8.77	1.23	12 190.4	16.78	6.28	173.1	19.97	6.11	148.0	8.83	0.00	141.9
	315.7	9.99	5.02	15 611.5	21.49	12.20	194.4	1.48	0.00	585.2	0.49	0.12	548.4
	347.3	5.31	0.00	16 162.1	17.70	7.31	289.7	3.83	2.82	575.6	3.66	0.43	551.7
	147.8	5.69	0.00	18 867.0	16.11	8.12	286.7	7.90	3.61	282.7	4.85	2.89	269.9