ResearchBenchmarksMulti-robot motion planning on Conveyor 16 agents High velocity vmax=1.76Multi-robot motion planning on Conveyor 16 agents High velocity vmax=1.76Follow100Success RateFinal Proj.-4235077Jun 13, 2026Evaluation resultsMethodMethodLinksSuccess RateCollision Statistics (%)Collision CountDeviationTime (s)Final Proj.Agents=16Agents=162026.0610079.80.010.9676.8DiRecTAgents=16Agents=162026.0610087.300.9769.2PCD-SHDAgents=16Agents=162026.06100.170.9433.6DiffuserAgents=16Agents=162026.0600181.110.9621.6MMD-CBSAgents=16Agents=162026.0606.217.33—63.2PCD-LBAgents=16Agents=162026.060068.060.9883.6