ResearchBenchmarksMulti-agent path planning on 180 Areas 12 AgentsFollow14.8783Mean Path Cost (m)ARMATA14.49770817.06670419.635722.204696May 5, 2026Evaluation ResultsMethodMethodLinksMean Path Cost (m)Mean Time (s)ARMATA2026.0514.87830.0872CPLEX2026.0520.3547405LKH32026.0524.3931152.2