//certain sections of the original Thesis have been removed Introduction This work was my final year project under Dr. Hanumant Singh Shekhawat at EEE, IITG performed along with Devashish Taneja (ECE, IITG). The research aimed to target defense scenarios and disaster management task where multiple "goal areas" with different "weights" are to be reached and completed by a group of agents within a time limit. The work was primarily on developing a model for this problem, genera