The Multiagent Planning Problem

Figure 9

The GAID algorithm was performed on a MAPP with 20 agents and 400 targets located in the unit square. The Team Plan cost was after the initialization and was reduced to by the end of the th generation and to by the end of the simulation. The longest subtour is highlighted by a thick line.

(a) 20-400 MAPP: initial Team Plan with greedy initialization

(b) 20-400 MAPP: final Team Plan after the 1000000th generation