Agent Count
Toggle number of agents participating.
5 agents
Objective
Balance safety, smoothness, and makespan.
Environment
Swap between cluttered and open.
Disturbance
Inject randomness into the replanned trajectories.
15% disturbance
Simulation
Replay the active trajectories.
Env: cluttered
Agents: 3
Longest path: 0 steps
Objective: Min total time
Disturbance: 15%