ResearchBenchmarksMulti-robot motion planning on Conveyor 20 agents Medium vmax=1.46Multi-robot motion planning on Conveyor 20 agents Medium vmax=1.46Follow100Success Rate (%)Final Proj.-4235077Jun 13, 2026Evaluation resultsMethodMethodLinksSuccess Rate (%)Collision Statistics (%)Collision CountDeviation ScoreExecution Time (s)Final Proj.Agents=20Agents=202026.0610050.90.740.92712.5DiRecTAgents=20Agents=202026.0610086.50.010.921125.4DiffuserAgents=20Agents=202026.0600293.670.9611.8MMD-CBSAgents=20Agents=202026.060035.83—66.2PCD-LBAgents=20Agents=202026.0600121.450.9735.5PCD-SHDAgents=20Agents=202026.06001.160.8865.5