ResearchBenchmarksMulti-robot motion planning on Conveyor 12 agents vmax=1.46 (Medium)Multi-robot motion planning on Conveyor 12 agents vmax=1.46 (Medium)Follow100Success Rate (SR)Final Proj.-4235077Jun 13, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Collision Statistics (CS)Collision Count (Coll)Deviation (DA)Time (s)Final Proj.Agents=12Agents=122026.0610082.10.090.9445.3DiRecTAgents=12Agents=122026.061009300.93153.5PCD-SHDAgents=12Agents=122026.0690.10.340.9223.4DiffuserAgents=12Agents=122026.060099.550.9611.2MMD-CBSAgents=12Agents=122026.06079.21.33—50PCD-LBAgents=12Agents=122026.060028.070.9733.3