ResearchBenchmarksMulti-agent path planning on 24 Areas 4 AgentsFollow5.0628Mean Path Distance (m)ARMATA4.9326965.8108986.68917.567302May 5, 2026Evaluation ResultsMethodMethodLinksMean Path Distance (m)Mean Execution Time (s)ARMATA2026.055.06280.0029LKH32026.055.90281.159CPLEX2026.058.3154123.75