Multi-robot Path Planning on Empty 2 robots, Max Vel. = 0.703
100Success Rate (SU)MMD-CBS
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| MMD-CBSMax Velocity=0.703, Projection=False2025.08 | 100 | 100 | 8 | 12 | 99 | 100 | — | — | |
| CD-LB (w/o proj.)Max Velocity=0.703, Sample Size=128, Projection=False, Objective Function=LB2025.08 | 100 | 100 | 7.3 | 5.5 | 92 | 93 | — | — | |
| CD-SHD (w/o proj.)Max Velocity=0.703, Sample Size=128, Projection=False, Objective Function=SHD2025.08 | 100 | 100 | 45 | 52 | 99 | 100 | — | — | |
| PCD-SHDMax Velocity=0.703, Sample Size=128, Projection=True, Objective Function=SHD2025.08 | 100 | 100 | 100 | 100 | 99 | 100 | — | — | |
| MMD-CBSprojection=false2025.08 | 100 | 100 | — | — | — | — | 11 | 99 | |
| CD-LB (w/o proj.)projection=false, cost_function=LB2025.08 | 100 | 99.3 | — | — | — | — | 0.0312 | 81.4 | |
| CD-SHD (w/o proj.)projection=false, cost_function=SHD2025.08 | 100 | 100 | — | — | — | — | 35.3 | 99 | |
| PCD-SHDprojection=true, cost_function=SHD2025.08 | 100 | 99.3 | — | — | — | — | 100 | 96 | |
| PCD-LBprojection=true, cost_function=LB2025.08 | 96 | 91.6 | — | — | — | — | 100 | 48.9 | |
| PCD-LBMax Velocity=0.703, Sample Size=128, Projection=True, Objective Function=LB2025.08 | 95 | 95 | 100 | 100 | 98 | 100 | — | — | |
| vanilla DIFFUSERMax Velocity=0.703, Sample Size=128, Projection=False2025.08 | 92 | 92 | 59 | 65 | 99 | 100 | — | — | |
| DIFFUSER + projectionMax Velocity=0.703, Sample Size=128, Projection=True2025.08 | 92 | 92 | 100 | 100 | 99 | 100 | — | — | |
| DIFFUSERprojection=false2025.08 | 65 | 61.6 | — | — | — | — | 62.3 | 99 | |
| DIFFUSER + proj.projection=true2025.08 | 65 | 61.5 | — | — | — | — | 100 | 99 |