ResearchBenchmarksMulti-robot motion planning on Conveyor 12 agents Low velocity vmax=1.21Multi-robot motion planning on Conveyor 12 agents Low velocity vmax=1.21Follow100Success Rate (%)Final Proj.-4235077Jun 13, 2026Evaluation resultsMethodMethodLinksSuccess Rate (%)Collision Statistics (%)Average Collision CountPath DeviationExecution Time (s)Final Proj.Agents=12Agents=122026.0610024.72.650.8376.5DiRecTAgents=12Agents=122026.0610089.90.040.82366.7PCD-SHDAgents=12Agents=122026.06100.860.8293.1DiffuserAgents=12Agents=122026.060099.550.9611.2MMD-CBSAgents=12Agents=122026.06079.21.33—50PCD-LBAgents=12Agents=122026.060027.50.8963.1