ResearchBenchmarksMotion Planning on SUMO simulator 2-Lane ConfigurationFollow15.242Average Velocity (Vavg)UAMP7.703049.6602711.617513.57473Jun 8, 2026Evaluation ResultsMethodMethodLinksAverage Velocity (Vavg)Travel Time (Ttravel)Jerkiness (Jacc)Success Rate (Rsuccess)UAMP2026.0615.24238.40.143100IPPO2026.0614.51441.20.243100MVCM2026.0613.23638.40.551100P-DRL2026.0611.89453.3330.51694MAPPO-PIS2026.0611.8462.50.42291rMAPPO2026.067.99358.90.29985