Multi-robot motion planning on Empty Low velocity vmax=0.675
100Success Rate (SR)MMD-CBS
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| MMD-CBSNumber of Agents=42026.06 | 100 | 100 | 0 | — | 5.5 | |
| MMD-CBSNumber of Agents=82026.06 | 100 | 100 | 0 | — | 13.3 | |
| MMD-CBSNumber of Agents=122026.06 | 100 | 100 | 0 | — | 56.9 | |
| MMD-CBSNumber of Agents=162026.06 | 100 | 100 | 0 | — | 48 | |
| DiRecTNumber of Agents=42026.06 | 98 | 98 | 0.05 | 0.998 | 31.1 | |
| DiRecTNumber of Agents=122026.06 | 95.5 | 90.5 | 0.24 | 0.997 | 42.6 | |
| DiRecTNumber of Agents=82026.06 | 95 | 94 | 0.13 | 0.995 | 26.5 | |
| PCD-SHDNumber of Agents=42026.06 | 90 | 86.4 | 0.27 | 0.994 | 2 | |
| DiRecTNumber of Agents=162026.06 | 90 | 80.4 | 0.57 | 0.995 | 58.2 | |
| DiRecTNumber of Agents=202026.06 | 90 | 76.1 | 0.82 | 0.996 | 80.7 | |
| Final Proj.Number of Agents=42026.06 | 89 | 84.7 | 0.26 | 0.997 | 2.9 | |
| PCD-LBNumber of Agents=42026.06 | 85 | 81.4 | 0.41 | 0.739 | 3 | |
| PCD-SHDNumber of Agents=82026.06 | 74 | 58.9 | 1.15 | 0.985 | 3.9 | |
| DiffuserNumber of Agents=42026.06 | 65 | 61.7 | 1.15 | 0.997 | 1 | |
| Final Proj.Number of Agents=82026.06 | 45 | 31.6 | 2.11 | 0.995 | 2.7 | |
| PCD-LBNumber of Agents=82026.06 | 40.5 | 22.1 | 3.35 | 0.744 | 6 | |
| PCD-SHDNumber of Agents=122026.06 | 34 | 18.8 | 2.97 | 0.984 | 3.8 | |
| MMD-CBSNumber of Agents=202026.06 | 33.3 | 46.7 | 14.67 | — | 69.2 | |
| Final Proj.Number of Agents=122026.06 | 25 | 15.7 | 4.8 | 0.997 | 4.4 | |
| PCD-SHDNumber of Agents=162026.06 | 19 | 7 | 6.18 | 0.979 | 6.7 | |
| DiffuserNumber of Agents=82026.06 | 15 | 9.4 | 6.2 | 0.996 | 0.9 | |
| PCD-SHDNumber of Agents=202026.06 | 7 | 2.7 | 9.07 | 0.973 | 7.1 | |
| Final Proj.Number of Agents=162026.06 | 5 | 2.6 | 9.16 | 0.995 | 6.4 | |
| PCD-LBNumber of Agents=122026.06 | 3 | 1.3 | 11.43 | 0.748 | 6.2 | |
| DiffuserNumber of Agents=122026.06 | 1 | 1 | 14.52 | 0.998 | 1 | |
| Final Proj.Number of Agents=202026.06 | 1 | 0 | 13.54 | 0.995 | 9.3 | |
| DiffuserNumber of Agents=162026.06 | 0 | 0 | 26.17 | 0.998 | 1.4 | |
| PCD-LBNumber of Agents=162026.06 | 0 | 0 | 30.57 | 0.74 | 8.7 | |
| DiffuserNumber of Agents=202026.06 | 0 | 0 | 40.39 | 0.998 | 1.7 | |
| PCD-LBNumber of Agents=202026.06 | 0 | 0 | 34.43 | 0.988 | 8.7 |