ResearchBenchmarksMulti-robot coordination on Five evaluation scenarios n=100 runs per architectureMulti-robot coordination on Five evaluation scenarios n=100 runs per architectureFollow94Coordination Success RateCFC83.686.38991.7Apr 13, 2026Evaluation resultsMethodMethodLinksCoordination Success RateGovernance LocalityRecovery ContainmentAuthority ConflictsPolicy ViolationsReassignment Latency (s)Human Intervention RateAudit AttributabilityCFCRuns per architecture=100Runs per architecture=1002026.04940.690.513.791.662.07320.84FSARRuns per architecture=100Runs per architecture=1002026.04930.940.891.040.43.01140.98DHMARuns per architecture=100Runs per architecture=1002026.04840.530.88.113.345.18190.53