ResearchBenchmarksMulti-robot path planning on Original Benchmark Dense mapMulti-robot path planning on Original Benchmark Dense mapFollow0.34Running TimeORCA-10.11660.462131.04201.618May 26, 2026Evaluation resultsMethodMethodLinksRunning TimeORCANumber of robots=3Number of robots=32026.050.34ORCANumber of robots=6Number of robots=62026.050.87ORCANumber of robots=9Number of robots=92026.051.75MIMIC-DNumber of robots=3Number of robots=32026.054.89IA-MPCNumber of robots=3Number of robots=32026.05115.5SIDNumber of robots=3Number of robots=32026.05140.03SIDNumber of robots=6Number of robots=62026.05205.73SIDNumber of robots=9Number of robots=92026.05261.74