def METHOD_NAME(paths, costmap, num_of_planners):
    coords = getMapCoordsFromPaths(paths, costmap.metadata.resolution)
    data = np.asarray(costmap.data)
    data.resize(costmap.metadata.size_y, costmap.metadata.size_x)
    average_path_costs = []
    for i in range(num_of_planners):
        average_path_costs.append([])
    k = 0
    for i in range(0, len(coords), 2):
        costs = []
        for j in range(len(coords[i])):
            costs.append(data[math.floor(coords[i+1][j])][math.floor(coords[i][j])])
        average_path_costs[k % num_of_planners].append(sum(costs)/len(costs))
        k += 1
    return average_path_costs