ResearchBenchmarksMulti-robot motion planning on Conveyor 20 agents Low velocity vmax=1.21Multi-robot motion planning on Conveyor 20 agents Low velocity vmax=1.21Follow100Success RateDiRecT-4235077Jun 13, 2026Evaluation resultsMethodMethodLinksSuccess RateCollision StatisticsCollision CountDeviation AverageExecution Time (s)DiRecTAgents=20Agents=202026.0610072.40.250.81597.8Final Proj.Agents=20Agents=202026.06651.211.430.8069.1DiffuserAgents=20Agents=202026.0600293.670.9611.8MMD-CBSAgents=20Agents=202026.060035.83—66.2PCD-LBAgents=20Agents=202026.0600121.490.8964.4PCD-SHDAgents=20Agents=202026.06002.740.7784.5