ResearchBenchmarksMulti-Agent Path Finding on 30 × 30 grid with 10% obstacles Table 1 settings (test)Follow0.49Time (s)P2+P3-5.970437.637381.245124.8527May 11, 2026Evaluation ResultsMethodMethodLinksTime (s)Success RateP2+P3Agents=300Agents=3002026.050.49100P1Agents=300Agents=3002026.050.54100CBMAgents=50Agents=502026.055.32100ILPAgents=40Agents=402026.0515314ILPAgents=50Agents=502026.051624