The Multiagent Planning Problem

Figure 3

The GAID algorithm was tested on a MAPP which contains 81 targets forming 9 clusters on a 2200 × 2200 square domain. An agent was placed into each cluster (white diamonds); thus the number of agents is . The initial cost based on (9) is 15302.3 for random and 1627.9 for greedy initialization. The longest subtour is highlighted with thick line.

(a) 9-81 MAPP: initial plan with random initialization

(b) 9-81 MAPP: initial plan with greedy initialization