ResearchBenchmarksMulti-agent path planning on 72 Areas / 8 AgentsFollow9.1108Mean Path Distance (m)ARMATA8.9661329.94264110.9191511.895659May 5, 2026Evaluation ResultsMethodMethodLinksMean Path Distance (m)Mean Execution Time (s)ARMATA2026.059.11080.0166LKH32026.0511.595846.097CPLEX2026.0512.7275123.75