Patent ID: 7693653

Claim:
A method of determining paths for a fleet of mobile agents to accomplish missions, every path having an ordered set of waypoints to be visited by a corresponding mobile agent, the method comprising: a. subject to a path production heuristic, producing candidate path sets using a multi-objective optimization algorithm; b. subject to a path selection heuristic, selecting a path set from the candidate path sets, wherein every mobile agent has an associated path belonging to the selected path set; c. instructing a first subset of the mobile agents to move according to paths respectively associated with the first subset; d. subject to the path production heuristic, modifying a maintained subset of the candidate path sets to produce a new candidate path set using the algorithm; e. subject to the path selection heuristic, designating one of the selected path set and the new candidate path set as the selected path set; and f. instructing a second subset of the mobile agents to move according to paths belonging to the selected path set, respectively associated with the second subset.