[100 random CFSTP instances, 300 tasks, 50 world_dim]
avg(completed tasks, agent travel time, task completion time, problem completion time, computational time)

[2 agents]

   EDF = (16.17% ± [2.50, 3.16], 27.16 ± [5.97, 7.62], 19.12 ± [3.06, 3.02], 597.58 ± [15.58, 2.42], 0.40 ms ± [0.18, 9.29])
  CFLA = (27.24% ± [1.91, 2.09], 31.67 ± [4.32, 6.06], 11.66 ± [1.11, 1.03], 529.41 ± [33.41, 32.59], 340.23 ms ± [43.07, 244.57])
 CFLA2 = (23.68% ± [2.68, 2.98], 14.87 ± [2.33, 2.78], 14.40 ± [1.82, 1.64], 555.61 ± [20.61, 20.39], 130.04 ms ± [25.32, 110.47])
   CTS = (9.41% ± [8.74, 5.26], 8.12 ± [5.12, 2.68], 20.54 ± [9.54, 6.21], 413.24 ± [399.24, 186.76], 0.76 ms ± [0.73, 5.53])

[4 agents]

   EDF = (32.34% ± [3.34, 4.33], 28.29 ± [4.35, 4.72], 19.08 ± [1.96, 2.20], 584.18 ± [41.18, 15.82], 0.58 ms ± [0.21, 9.61])
  CFLA = (42.01% ± [4.01, 3.99], 32.14 ± [4.36, 3.57], 13.56 ± [1.00, 0.97], 485.54 ± [38.54, 35.46], 498.08 ms ± [63.31, 275.43])
 CFLA2 = (43.76% ± [3.76, 4.24], 17.64 ± [2.98, 2.71], 15.36 ± [1.08, 1.27], 558.50 ± [22.50, 23.50], 244.22 ms ± [40.93, 108.39])
   CTS = (26.37% ± [6.04, 2.63], 8.94 ± [2.02, 2.38], 20.80 ± [2.28, 2.13], 596.76 ± [141.76, 3.24], 0.96 ms ± [0.22, 6.91])

[6 agents]

   EDF = (46.11% ± [4.11, 5.22], 29.00 ± [2.78, 3.19], 19.44 ± [1.77, 1.93], 544.97 ± [36.97, 40.03], 0.68 ms ± [0.29, 13.30])
  CFLA = (51.24% ± [4.24, 4.10], 32.34 ± [3.69, 4.26], 14.43 ± [1.00, 1.08], 431.69 ± [48.69, 48.31], 595.21 ms ± [76.53, 335.17])
 CFLA2 = (60.55% ± [5.22, 3.45], 19.96 ± [2.43, 2.91], 16.38 ± [0.81, 1.23], 557.41 ± [17.41, 18.59], 331.84 ms ± [59.75, 133.31])
   CTS = (39.33% ± [3.99, 3.67], 9.09 ± [2.00, 2.63], 20.87 ± [1.86, 1.79], 598.37 ± [10.37, 1.63], 1.09 ms ± [0.20, 7.55])

[8 agents]

   EDF = (57.24% ± [5.91, 4.76], 29.61 ± [3.08, 3.27], 19.34 ± [1.74, 2.22], 494.33 ± [44.33, 44.67], 1.17 ms ± [0.46, 17.88])
  CFLA = (57.94% ± [4.94, 4.06], 32.62 ± [3.19, 3.43], 14.74 ± [1.22, 1.10], 387.05 ± [42.05, 36.95], 748.13 ms ± [89.53, 958.35])
 CFLA2 = (74.30% ± [5.63, 3.70], 22.26 ± [2.05, 1.95], 17.39 ± [0.99, 1.48], 546.98 ± [30.98, 24.02], 443.34 ms ± [77.25, 251.47])
   CTS = (52.25% ± [4.59, 3.75], 9.39 ± [1.57, 1.62], 20.58 ± [1.65, 2.68], 597.87 ± [9.87, 2.13], 1.40 ms ± [0.24, 9.34])

[10 agents]

   EDF = (65.33% ± [7.33, 4.67], 29.93 ± [2.82, 3.97], 19.43 ± [1.30, 1.57], 450.70 ± [28.70, 51.30], 1.28 ms ± [0.55, 19.12])
  CFLA = (61.87% ± [3.87, 4.80], 32.59 ± [2.96, 3.11], 14.99 ± [1.22, 0.98], 348.50 ± [30.50, 32.50], 795.12 ms ± [86.83, 803.97])
 CFLA2 = (83.59% ± [5.25, 4.75], 25.13 ± [3.62, 4.27], 18.71 ± [1.27, 1.34], 530.36 ± [28.36, 24.64], 497.96 ms ± [63.53, 114.35])
   CTS = (63.88% ± [5.88, 5.78], 9.93 ± [1.48, 2.52], 20.63 ± [1.73, 1.49], 597.71 ± [12.71, 2.29], 1.58 ms ± [0.25, 11.29])

[12 agents]

   EDF = (72.56% ± [8.23, 5.11], 30.24 ± [4.00, 2.47], 19.24 ± [1.62, 1.69], 413.43 ± [32.43, 38.57], 0.92 ms ± [0.33, 15.08])
  CFLA = (65.14% ± [4.14, 7.52], 32.95 ± [3.18, 3.17], 15.11 ± [1.03, 1.14], 321.85 ± [36.85, 35.15], 802.53 ms ± [83.63, 494.50])
 CFLA2 = (87.43% ± [5.76, 4.24], 29.14 ± [4.97, 3.44], 19.36 ± [1.28, 1.40], 482.37 ± [43.37, 36.63], 497.20 ms ± [73.55, 177.36])
   CTS = (74.73% ± [4.06, 4.27], 10.38 ± [1.28, 1.62], 20.58 ± [1.37, 1.41], 594.26 ± [39.26, 5.74], 1.89 ms ± [0.32, 10.25])

[14 agents]

   EDF = (77.64% ± [4.97, 5.69], 30.68 ± [2.39, 2.90], 18.90 ± [1.79, 1.26], 379.78 ± [22.78, 38.22], 1.06 ms ± [0.47, 13.69])
  CFLA = (67.11% ± [5.44, 4.22], 33.06 ± [3.16, 2.63], 15.05 ± [1.10, 1.22], 297.78 ± [30.78, 32.22], 825.84 ms ± [88.52, 320.01])
 CFLA2 = (87.94% ± [5.60, 4.40], 31.00 ± [2.76, 2.66], 19.24 ± [1.34, 1.11], 422.85 ± [35.85, 34.15], 527.77 ms ± [69.73, 150.93])
   CTS = (82.38% ± [5.05, 4.28], 11.56 ± [1.47, 1.48], 20.40 ± [1.27, 1.30], 575.90 ± [55.90, 24.10], 2.00 ms ± [0.40, 10.11])

[16 agents]

   EDF = (83.25% ± [5.92, 4.75], 30.88 ± [2.68, 3.12], 18.66 ± [1.96, 1.58], 351.10 ± [19.10, 28.90], 1.81 ms ± [0.76, 23.48])
  CFLA = (68.77% ± [4.10, 5.23], 32.86 ± [2.67, 2.83], 15.01 ± [1.06, 1.40], 283.41 ± [30.41, 33.59], 974.44 ms ± [75.39, 611.26])
 CFLA2 = (89.10% ± [4.10, 5.23], 31.43 ± [3.70, 3.93], 18.95 ± [1.51, 1.47], 378.02 ± [30.02, 27.98], 606.13 ms ± [76.32, 117.88])
   CTS = (86.94% ± [7.94, 5.39], 12.92 ± [2.28, 2.10], 20.39 ± [1.14, 1.41], 538.82 ± [47.82, 60.18], 2.33 ms ± [0.56, 12.45])

[18 agents]

   EDF = (88.09% ± [7.75, 5.58], 30.64 ± [2.40, 2.34], 18.33 ± [1.42, 1.29], 336.11 ± [20.11, 25.89], 2.04 ms ± [0.74, 26.48])
  CFLA = (69.73% ± [6.07, 5.60], 32.54 ± [3.83, 4.71], 15.10 ± [0.80, 0.93], 272.95 ± [26.95, 25.05], 983.11 ms ± [115.05, 1010])
 CFLA2 = (89.10% ± [4.10, 3.90], 31.43 ± [2.02, 3.68], 18.55 ± [1.37, 1.58], 340.05 ± [21.05, 34.95], 603.53 ms ± [71.15, 123.62])
   CTS = (89.49% ± [6.15, 5.51], 13.41 ± [2.39, 3.06], 20.43 ± [1.46, 1.29], 495.89 ± [62.89, 50.11], 2.31 ms ± [0.32, 11.26])

[20 agents]

   EDF = (91.68% ± [12.01, 4.66], 30.80 ± [3.55, 2.53], 17.77 ± [1.49, 1.80], 319.14 ± [15.14, 32.86], 2.39 ms ± [0.87, 22.96])
  CFLA = (70.67% ± [7.00, 5.00], 32.83 ± [2.46, 2.77], 15.03 ± [1.17, 1.40], 262.85 ± [20.85, 23.15], 1013.92 ms ± [127.97, 1099])
 CFLA2 = (89.34% ± [7.67, 3.66], 31.57 ± [4.07, 3.50], 17.81 ± [1.86, 1.63], 312.13 ± [26.13, 23.87], 632.03 ms ± [127.34, 193])
   CTS = (91.99% ± [6.32, 4.01], 13.98 ± [2.91, 4.33], 20.40 ± [1.20, 1.26], 464.27 ± [53.27, 59.73], 2.25 ms ± [0.33, 13.09])

[25 agents]

   EDF = (95.01% ± [6.34, 3.66], 30.75 ± [2.73, 2.78], 16.08 ± [1.25, 1.43], 301.00 ± [0.00, 0.00], 4.19 ms ± [1.16, 33.02])
  CFLA = (71.35% ± [4.68, 5.65], 32.66 ± [3.10, 3.09], 14.87 ± [1.00, 0.82], 247.43 ± [15.43, 18.57], 1126.58 ms ± [134.66, 918])
 CFLA2 = (89.30% ± [3.96, 4.37], 31.65 ± [3.55, 3.73], 16.18 ± [1.07, 1.07], 290.80 ± [12.80, 14.20], 694.99 ms ± [99.13, 206.38])
   CTS = (95.18% ± [5.51, 3.15], 14.40 ± [2.52, 3.82], 20.34 ± [1.28, 1.39], 389.64 ± [41.64, 42.36], 2.35 ms ± [0.37, 13.85])

[30 agents]

   EDF = (95.79% ± [6.79, 3.88], 30.28 ± [3.11, 2.87], 15.68 ± [1.15, 0.79], 301.00 ± [0.00, 0.00], 5.89 ms ± [1.09, 40.53])
  CFLA = (70.97% ± [5.97, 4.70], 32.50 ± [3.89, 3.20], 14.74 ± [1.07, 0.85], 239.41 ± [15.41, 16.59], 1213.45 ms ± [131.16, 581])
 CFLA2 = (88.94% ± [4.27, 3.73], 31.59 ± [2.72, 3.36], 15.83 ± [0.88, 0.87], 288.71 ± [16.71, 14.29], 741.73 ms ± [81.26, 133.78])
   CTS = (96.19% ± [5.19, 2.81], 15.05 ± [2.89, 3.90], 20.33 ± [0.96, 0.93], 335.58 ± [32.58, 38.42], 2.78 ms ± [0.48, 12.69])

[35 agents]

   EDF = (96.51% ± [8.18, 3.16], 30.40 ± [2.95, 2.72], 15.56 ± [1.13, 0.98], 301.00 ± [0.00, 0.00], 7.28 ms ± [1.19, 47.24])
  CFLA = (71.19% ± [4.53, 5.14], 32.25 ± [2.50, 2.63], 14.64 ± [0.74, 0.92], 238.89 ± [14.89, 19.11], 1299.69 ms ± [214.81, 1700])
 CFLA2 = (89.46% ± [4.46, 4.21], 31.66 ± [2.64, 2.67], 15.73 ± [1.17, 0.91], 290.39 ± [14.39, 15.61], 776.76 ms ± [80.26, 172.91])
   CTS = (97.29% ± [4.62, 2.71], 15.15 ± [3.37, 4.39], 20.30 ± [1.33, 1.45], 293.62 ± [35.62, 35.38], 2.83 ms ± [0.58, 15.19])

[40 agents]

   EDF = (96.71% ± [8.04, 3.29], 30.53 ± [2.24, 3.02], 15.51 ± [0.94, 0.95], 300.99 ± [0.99, 0.01], 5.29 ms ± [0.85, 31.01])
  CFLA = (70.79% ± [5.46, 5.54], 32.34 ± [3.20, 2.79], 14.67 ± [1.11, 1.22], 237.97 ± [14.97, 16.03], 1244.93 ms ± [161.44, 1290])
 CFLA2 = (89.27% ± [4.27, 2.73], 31.66 ± [3.23, 2.98], 15.72 ± [0.95, 0.93], 289.10 ± [14.10, 10.90], 749.60 ms ± [96.39, 447.54])
   CTS = (98.15% ± [2.48, 1.85], 15.69 ± [4.12, 3.83], 20.30 ± [1.09, 1.24], 263.76 ± [24.76, 29.24], 2.76 ms ± [0.49, 16.61])
