ResearchBenchmarksMulti-robot motion planning on Conveyor 20 agents High velocity vmax=1.76Multi-robot motion planning on Conveyor 20 agents High velocity vmax=1.76Follow100Success RateFinal Proj.-4235077Jun 13, 2026Evaluation resultsMethodMethodLinksSuccess RateCollision StatisticsCollision CountDeviationTime (s)Final Proj.Agents=20Agents=202026.06100750.04969.2DiRecTAgents=20Agents=202026.0610087.3096.598.1DiffuserAgents=20Agents=202026.0600293.6796.11.8MMD-CBSAgents=20Agents=202026.060035.83—66.2PCD-LBAgents=20Agents=202026.0600125.7698.74.2PCD-SHDAgents=20Agents=202026.06000.392.64.2