ResearchBenchmarksMulti-robot motion planning on Conveyor 16 agents Low velocity vmax=1.21Multi-robot motion planning on Conveyor 16 agents Low velocity vmax=1.21Follow100Success RateDiRecT-4235077Jun 13, 2026Evaluation resultsMethodMethodLinksSuccess RateCollision Statistics (%)Average Collision CountDeviation ScoreExecution Time (s)DiRecTAgents=16Agents=162026.0610081.40.080.8268.9Final Proj.Agents=16Agents=162026.06988.45.490.8226.5DiffuserAgents=16Agents=162026.0600181.110.9621.6MMD-CBSAgents=16Agents=162026.0606.217.33—63.2PCD-LBAgents=16Agents=162026.060064.740.9023.9PCD-SHDAgents=16Agents=162026.06001.580.8094