ResearchBenchmarksMulti-robot motion planning on Conveyor 4 agents vmax=1.21 (Low velocity)Multi-robot motion planning on Conveyor 4 agents vmax=1.21 (Low velocity)Follow100Success Rate (SR)MMD-CBS-2.9623.7750.577.23Jun 13, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Collision Statistics (CS)Collision Count (Coll)Deviation (DA)Time (s)MMD-CBSAgents=4Agents=42026.061001000—6.9PCD-LBAgents=4Agents=42026.0610024.90.9489.62PCD-SHDAgents=4Agents=42026.0610028.60.0990.22.1Final Proj.Agents=4Agents=42026.0610082.70.1586.45.8DiRecTAgents=4Agents=42026.0610096.6083.550.5DiffuserAgents=4Agents=42026.06108.78961.1