Results with Obstacles

Companion page: obstacle-avoidance experiments for all environments. See the main page for the full results.

Dubins Car

Agents

Diffusion

STLPY

Note: TtR = mean time-to-reach (steps).

Results with obstacles for the Dubins Car environment (Heterogeneous specs; $N\in\{8,16,32\}$). D-MA: Diffusion-based Multi-Agent (Ours), D-SA: Diffusion-based Single-Agent, STLPY: MILP planner. Best results are in **bold**.
Spec	N	Planning Time (s) (↓)			Success Rate (↑)			TtR (↓)
Spec	N	D-MA	D-SA	STLPY	D-MA	D-SA	STLPY	D-MA	D-SA	STLPY
Branch	8	0.27	0.22	11.49	95.00	90.42	83.75	1334.66	1234.21	670.08
	16	0.84	0.31	22.30	90.62	82.50	78.12	1341.26	1327.89	1045.21
	32	2.26	0.46	44.12	87.19	55.00	66.88	1753.57	1620.55	998.40
Cover	8	0.83	0.42	9.12	90.00	87.08	85.00	1599.75	1246.25	854.22
	16	1.38	0.58	18.37	90.00	79.38	80.62	1659.24	1382.99	1141.86
	32	4.14	0.81	37.35	82.50	55.42	62.81	1591.70	1638.02	1097.58
Loop	8	0.84	1.80	60.62	87.92	83.33	72.50	2625.00	2167.89	1795.36
	16	1.42	2.55	126.32	85.00	80.83	73.75	2511.69	2386.08	1880.43
	32	2.19	2.98	240.85	71.04	61.98	43.75	2858.89	2837.73	2101.98
Seq.	8	0.43	0.32	4.59	87.92	85.42	76.25	1676.99	1727.93	1295.20
	16	1.87	0.42	9.08	88.75	75.62	68.75	1878.02	1747.22	1529.92
	32	4.75	0.68	18.86	71.25	42.19	41.88	1843.99	2022.89	1799.16

Double Integrator

Agents

Diffusion

STLPY

Note: TtR = mean time-to-reach (steps).

Results with obstacles for the Double Integrator environment (Heterogeneous specs; $N\in\{8,16,32\}$). D-MA: Diffusion-based Multi-Agent (Ours), STLPY: MILP planner. Best results are in **bold**.
Spec	N	Planning Time (s) (↓)		Success Rate (↑)		TtR (↓)
Spec	N	D-MA	STLPY	D-MA	STLPY	D-MA	STLPY
Branch	8	0.57	9.91	97.92	85.00	1466.51	1136.44
	16	0.93	19.32	98.75	88.12	1686.29	1203.41
	32	2.17	39.47	97.60	83.75	1940.35	1458.93
Cover	8	1.56	8.31	98.75	85.00	1389.64	1177.51
	16	2.28	16.55	96.88	87.50	1607.36	1268.25
	32	4.43	32.81	87.81	76.88	1908.44	1343.73
Loop	8	3.95	49.58	92.92	87.50	2315.57	1871.11
	16	7.52	100.53	93.54	88.12	2379.24	2097.43
	32	14.43	196.92	90.21	83.75	3124.32	3058.88
Seq.	8	2.03	3.98	96.25	82.50	1580.93	1234.13
	16	2.54	7.97	96.04	83.75	1834.80	1780.33
	32	4.42	15.81	85.73	66.25	2324.78	1850.46

Single Integrator

Agents

Diffusion

STLPY

Note: TtR = mean time-to-reach (steps).

Results with obstacles for the Single Integrator environment (Heterogeneous specs; $N\in\{8,16,32\}$). D-MA: Diffusion-based Multi-Agent (Ours), D-SA: Diffusion-based Single-Agent, STLPY: MILP planner. Best results are in **bold**.
Spec	N	Planning Time (s) (↓)			Success Rate (↑)			TtR (↓)
Spec	N	D-MA	D-SA	STLPY	D-MA	D-SA	STLPY	D-MA	D-SA	STLPY
Branch	8	0.54	0.27	9.93	94.17	89.58	81.25	1234.49	1489.94	665.80
	16	0.73	0.30	19.29	93.54	90.00	85.62	1323.92	1549.64	709.70
	32	1.07	0.31	38.62	92.81	91.67	87.19	1778.98	1677.16	734.18
Cover	8	0.42	0.31	8.18	92.92	85.83	81.25	1430.52	1479.96	853.77
	16	0.62	0.43	16.45	92.29	88.12	85.62	1529.05	1540.77	887.44
	32	1.09	0.47	32.89	92.81	89.90	88.12	1555.41	1448.32	947.44
Loop	8	3.77	1.86	52.86	90.83	81.25	78.75	1904.90	1856.04	1233.15
	16	7.31	2.55	105.73	90.83	86.67	81.88	1886.95	1952.12	1119.33
	32	12.76	3.92	218.89	90.73	87.19	84.38	2206.91	2154.67	1423.70
Seq.	8	1.25	0.45	4.11	91.67	89.58	81.25	1573.66	1715.81	947.60
	16	1.81	0.50	8.12	93.33	88.75	83.12	1721.08	1824.43	1006.02
	32	3.35	0.64	16.39	91.77	87.50	80.94	2243.08	1988.05	1387.37

JavaScript Disabled

The agent-count selectors require JavaScript. Tables are available directly in the markup.