ResearchBenchmarksMulti-agent path planning on 40 Areas 5 AgentsFollow6.5128Mean Path Cost (m)ARMATA6.3307127.5598068.788910.017994May 5, 2026Evaluation ResultsMethodMethodLinksMean Path Cost (m)Mean Time (s)ARMATA2026.056.51280.0061LKH32026.057.47322.276CPLEX2026.0511.065101.25