ResearchBenchmarksMulti-robot motion planning on Conveyor 16 agents Medium velocity vmax=1.46Multi-robot motion planning on Conveyor 16 agents Medium velocity vmax=1.46Follow100Success Rate (SR)Final Proj.-4235077Jun 13, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Collision Statistics (CS)Collision Count (Coll)Deviation (DA)Time (s)Final Proj.Agents=16Agents=162026.0610067.90.2693.79.8DiRecTAgents=16Agents=162026.0610087.2092.799.1DiffuserAgents=16Agents=162026.0600181.1196.21.6MMD-CBSAgents=16Agents=162026.0606.217.33—63.2PCD-LBAgents=16Agents=162026.060065.1597.64.3PCD-SHDAgents=16Agents=162026.06000.64914.4