The Multiagent Planning Problem

Figure 7

Solving the MTSP by the greedy and the cluster initialization methods. In both cases, agents are considered, and the target set is kroA100. In (a), the greedy initialization method is used and the final obtained Team Plan is shown. The cost is , and it is worse than the referenced one. In (b), the TSP-based initialization method is used and the obtained final Team Plan is shown. The cost is , which is only worse than the referenced one.

(a) kroA100 problem: greedy initialization

(b) kroA100 problem: TSP-based initialization