**Appendix A**

Figure A1 shows the resulting paths for field 1 with CC = 1 of the benchmark-(a) and NNR case (b). By adding a reach radius, the traveled distance was reduced from 9630 m to 9040 m while the collection sequence remained.

Figure A2 shows the resulting paths for field 1 with CC = all of the benchmark-(a) and NNR case (b). By adding a reach radius, the traveled distance was reduced from 1160 m to 990 m while the collection sequence remained.

Figure A3a shows the resulting paths for Field 1 with CC = all of the RPI case and the corresponding fitness convergence (b). Figure A3c shows the resulting path of the NNPI case with the corresponding fitness convergence (d). By incorporating a nearest neighbor in the initial collection sequence population, the travelled distance was reduced from 860 m to 820 m.

**Figure A1.** Resulting paths for field 1 with CC = 1 of (**a**) the benchmark and (**b**) NNR.

**Figure A2.** Resulting paths for field 1 with CC = all of (**a**) the benchmark and (**b**) NNR.

**Figure A3.** Resulting paths for field 1 with CC = all of (**a**) the RPI case, (**b**) RPI convergence, (**c**) NNPI case, and (**d**) NNPI convergence.

Figure A4 shows the resulting paths for field 2 with CC = 1 of the benchmark-(a) and NNR case (b). By adding a reach radius, the traveled distance was reduced from 8900 m to 8380 m while the collection sequence remained.

**Figure A4.** Resulting paths for field 2 with CC = 1 of (**a**) the benchmark and (**b**) NNR.

Figure A5 shows the resulting paths for field 2 with CC = all of the benchmark-(a) and NNR case (b). By adding a reach radius, the traveled distance was reduced from 960 m to 830 m while the collection sequence remained.

**Figure A5.** Resulting paths for field 2 with CC = all of (**a**) the benchmark and (**b**) NNR.

Figure A6a shows the resulting paths for field 2 with CC = all of the RPI case and the corresponding fitness convergence (b). Figure A6c shows the resulting path of the NNPI case with the corresponding fitness convergence (d). By incorporating a nearest neighbor in the initial collection sequence population, the travelled distance was reduced from 880 m to 740 m.

**Figure A6.** Resulting paths for field 1 with CC = all of (**a**) the RPI case, (**b**) RPI convergence, (**c**) NNPI case, and (**d**) NNPI convergence.
