Multi-robot motion planning on Empty Medium velocity, vmax=0.692
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 | 99.8 | 19.8 | |
| Final Proj.Number of Agents=42026.06 | 97 | 94.8 | 0.14 | 99.8 | 2.3 | |
| DiRecTNumber of Agents=82026.06 | 96 | 93.1 | 0.13 | 99.6 | 23.9 | |
| DiRecTNumber of Agents=122026.06 | 95 | 87 | 0.3 | 99.7 | 37 | |
| PCD-SHDNumber of Agents=42026.06 | 93 | 87.2 | 0.22 | 99.4 | 1.9 | |
| DiRecTNumber of Agents=162026.06 | 93 | 78.7 | 0.54 | 99.6 | 59.1 | |
| DiRecTNumber of Agents=202026.06 | 87 | 77.5 | 0.76 | 99.6 | 87.2 | |
| PCD-SHDNumber of Agents=82026.06 | 77 | 66.3 | 0.89 | 98.6 | 3.6 | |
| PCD-LBNumber of Agents=42026.06 | 75 | 73.3 | 0.6 | 98.4 | 2 | |
| Final Proj.Number of Agents=82026.06 | 73 | 57.7 | 1.22 | 99.5 | 2.1 | |
| DiffuserNumber of Agents=42026.06 | 65 | 61.7 | 1.15 | 99.7 | 1 | |
| Final Proj.Number of Agents=122026.06 | 51 | 32.9 | 2.98 | 99.7 | 3.6 | |
| PCD-SHDNumber of Agents=122026.06 | 48 | 27.8 | 2.25 | 98.4 | 3.9 | |
| MMD-CBSNumber of Agents=202026.06 | 33.3 | 46.7 | 14.67 | — | 69.2 | |
| PCD-SHDNumber of Agents=162026.06 | 29 | 10.4 | 4.85 | 97.9 | 5.2 | |
| PCD-LBNumber of Agents=82026.06 | 25 | 19.7 | 3.91 | 97.7 | 4.1 | |
| Final Proj.Number of Agents=162026.06 | 22 | 12.1 | 5.66 | 99.5 | 5.7 | |
| DiffuserNumber of Agents=82026.06 | 15 | 9.4 | 6.2 | 99.6 | 0.9 | |
| Final Proj.Number of Agents=202026.06 | 13 | 4.7 | 8.24 | 99.5 | 8.1 | |
| PCD-SHDNumber of Agents=202026.06 | 11 | 4.1 | 7.2 | 97.3 | 8.1 | |
| PCD-LBNumber of Agents=122026.06 | 2 | 2 | 11.04 | 98.7 | 3.7 | |
| DiffuserNumber of Agents=122026.06 | 1 | 1 | 14.52 | 99.8 | 1 | |
| DiffuserNumber of Agents=162026.06 | 0 | 0 | 26.17 | 99.8 | 1.4 | |
| PCD-LBNumber of Agents=162026.06 | 0 | 0 | 21.22 | 98.6 | 5.4 | |
| DiffuserNumber of Agents=202026.06 | 0 | 0 | 40.39 | 99.8 | 1.7 | |
| PCD-LBNumber of Agents=202026.06 | 0 | 0 | 33.09 | 98.8 | 8 |