# Multi-agent motion planning on Doorway-crossing experiment

Source: [Multi-agent motion planning on Doorway-crossing experiment](<https://www.sota2.com/research/sota/multi-agent-motion-planning-on-doorway-crossing-experiment>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-07-02T07:35:30.923Z

Evaluation of multi-agent motion planning performance on the Doorway-crossing experiment dataset, measured by Success Rate (SR%), Collision Rate (CR%), Time taken, and Path Length (PL).

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Multi-agent motion planning |
| Dataset (including any stated split) | Doorway-crossing experiment |
| Metric | Success Rate |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 4 of 4 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [Success Rate](<https://www.sota2.com/research/sota/multi-agent-motion-planning-on-doorway-crossing-experiment.md?metric=Success%20Rate>): Higher is better; unit: PERCENT.

- [Collision Rate](<https://www.sota2.com/research/sota/multi-agent-motion-planning-on-doorway-crossing-experiment.md?metric=Collision%20Rate>): Lower is better; unit: PERCENT.

- [Time (s)](<https://www.sota2.com/research/sota/multi-agent-motion-planning-on-doorway-crossing-experiment.md?metric=Time%20(s)>): Lower is better; unit: TIME.

- [Path Length (rad)](<https://www.sota2.com/research/sota/multi-agent-motion-planning-on-doorway-crossing-experiment.md?metric=Path%20Length%20(rad)>): Lower is better; unit: SCALAR.

## Recorded results

| Method | Success Rate | Result date | Report paper |
| --- | --- | --- | --- |
| HaMMAR | 71 | Not recorded | 690c2b832828b7cc6937c596 |
| (Opt) | 9 | Not recorded | 690c2b832828b7cc6937c596 |
| AtlasRRT | 8 | Not recorded | 690c2b832828b7cc6937c596 |
| AtlasRRT | 0 | Not recorded | 690c2b832828b7cc6937c596 |

### HaMMAR

Success Rate: 71. Result ID: 6a4614a560b88bb339842e23.

[Reporting paper](<https://www.sota2.com/research/paper/690c2b832828b7cc6937c596.md>)

[Method origin paper](<https://www.sota2.com/research/paper/690c2b832828b7cc6937c596.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### (Opt)

Success Rate: 9. Result ID: 6a4614a560b88bb339842e24.

[Reporting paper](<https://www.sota2.com/research/paper/690c2b832828b7cc6937c596.md>)

Recorded evaluation configuration: {"HJR":"without"}. This record does not assert independent reproduction.

### AtlasRRT

Success Rate: 8. Result ID: 6a4614a560b88bb339842e25.

[Reporting paper](<https://www.sota2.com/research/paper/690c2b832828b7cc6937c596.md>)

Recorded evaluation configuration: {"Coordination":"decentralized"}. This record does not assert independent reproduction.

### AtlasRRT

Success Rate: 0. Result ID: 6a4614a560b88bb339842e26.

[Reporting paper](<https://www.sota2.com/research/paper/690c2b832828b7cc6937c596.md>)

Recorded evaluation configuration: {"Coordination":"centralized"}. This record does not assert independent reproduction.

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