ResearchBenchmarksMulti-robot motion planning on Conveyor 12 agents High velocity vmax=1.76Multi-robot motion planning on Conveyor 12 agents High velocity vmax=1.76Follow100Success Rate (SR)Final Proj.-4235077Jun 13, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Collision Statistics (CS)Collision Count (Coll)Deviation (DA)Time (s)Final Proj.Agents=12Agents=122026.0610087.1097.26.6DiRecTAgents=12Agents=122026.0610093.3097.367.3PCD-SHDAgents=12Agents=122026.06100.10.0995.22.8DiffuserAgents=12Agents=122026.060099.5596.11.2MMD-CBSAgents=12Agents=122026.06079.21.33—50PCD-LBAgents=12Agents=122026.060029.7598.82.8