ResearchBenchmarksMulti-robot motion planning on Conveyor 8 agents Medium velocity vmax=1.46Multi-robot motion planning on Conveyor 8 agents Medium velocity vmax=1.46Follow100Success Rate (%)MMD-CBS-4235077Jun 13, 2026Evaluation resultsMethodMethodLinksSuccess Rate (%)Collision Statistics (%)Collision CountDeviationExecution Time (s)MMD-CBSAgents=8Agents=82026.061001000—22.3Final Proj.Agents=8Agents=82026.06100870.020.9494.2DiRecTAgents=8Agents=82026.0610093.900.93335.3PCD-SHDAgents=8Agents=82026.06893.80.150.942.6PCD-LBAgents=8Agents=82026.06481.17.870.9692.7DiffuserAgents=8Agents=82026.060041.620.961.2