Fig. 11

Number of evaluations required to achieve convergence in route bundling, in which darker colors imply large number of evaluations. The x-axis of each heatmap denotes the population size |P|, whereas the y-axis of each heatmap denotes the neighborhood scaling factor \(\eta\). Heatmaps are arranged in a 2-dimensional grid, in which the horizontal axis of the grid denotes the number of edges |E| in the bipartite network, and the vertical axis of the grid denotes the number of obstacles in the map. In this arrangement, heatmaps located at bottom/left (top/right) of the grid imply simple (complex) route bundling scenarios