ResearchBenchmarksMulti-robot motion planning on Conveyor 8 agents High velocity vmax=1.76Multi-robot motion planning on Conveyor 8 agents High velocity vmax=1.76Follow100Success RateMMD-CBS-4235077Jun 13, 2026Evaluation resultsMethodMethodLinksSuccess RateCollision StatisticsCollision CountDeviationExecution Time (s)MMD-CBSAgents=8Agents=82026.061001000—22.3Final Proj.Agents=8Agents=82026.0610088.500.9766.4DiRecTAgents=8Agents=82026.0610093.800.97667.7PCD-SHDAgents=8Agents=82026.06944.80.040.9642.3PCD-LBAgents=8Agents=82026.06430.78.320.9882.3DiffuserAgents=8Agents=82026.060041.620.961.2