ResearchBenchmarksMulti-robot motion planning on Conveyor 4 agents Medium velocity vmax=1.46Multi-robot motion planning on Conveyor 4 agents Medium velocity vmax=1.46Follow100Success RateMMD-CBS-2.9623.7750.577.23Jun 13, 2026Evaluation resultsMethodMethodLinksSuccess RateCollision StatisticsCollision CountDeviationExecution Time (s)MMD-CBSAgents=4Agents=42026.061001000—6.9PCD-LBAgents=4Agents=42026.0610039.60.910.9681.9PCD-SHDAgents=4Agents=42026.06100420.040.9641.9Final Proj.Agents=4Agents=42026.0610094.300.9533.6DiRecTAgents=4Agents=42026.0610096.900.93727.7DiffuserAgents=4Agents=42026.06108.780.961.1