ResearchBenchmarksMulti-robot motion planning on Conveyor 4 agents High velocity vmax=1.76Multi-robot motion planning on Conveyor 4 agents High velocity vmax=1.76Follow100Success Rate (%)MMD-CBS-2.9623.7750.577.23Jun 13, 2026Evaluation resultsMethodMethodLinksSuccess Rate (%)Collision Statistics (%)Collision CountDeviation ScoreTime (s)MMD-CBSAgents=4Agents=42026.061001000—6.9PCD-LBAgents=4Agents=42026.0610041.80.960.9861.8PCD-SHDAgents=4Agents=42026.0610044.70.010.981.8Final Proj.Agents=4Agents=42026.0610094.500.985.2DiRecTAgents=4Agents=42026.0610096.900.98161.2DiffuserAgents=4Agents=42026.06108.780.961.1