ResearchBenchmarksMulti-robot motion planning on Conveyor 8 agents Low velocity vmax=1.21Multi-robot motion planning on Conveyor 8 agents Low velocity vmax=1.21Follow100Success Rate (%)MMD-CBS-4235077Jun 13, 2026Evaluation resultsMethodMethodLinksSuccess Rate (%)Collision Statistics (%)Collision CountDeviation (DA)Execution Time (s)MMD-CBSAgents=8Agents=82026.061001000—22.3Final Proj.Agents=8Agents=82026.0610050.80.960.8456.2DiRecTAgents=8Agents=82026.0610092.70.010.8266PCD-SHDAgents=8Agents=82026.06751.80.390.8592.4PCD-LBAgents=8Agents=82026.06360.77.870.8952.4DiffuserAgents=8Agents=82026.060041.620.961.2