Historical log file
test case

grid_type = 0;% 1;%
numRows = 16;
numColumns = 16;
xmin = 0;
ymin = 0;
numAgent = 6;
numTask = 4;
numObstacle = 2;
aC_range = 2*sqrt(2);
bC_range = 2*sqrt(2);
maxTargets = 1;