Before revision:  On average, the Gaussian method requires ~5ms ms to compute a local collision-free trajectory, while our non-Gaussian method is computationally more expensive and requires ~ 7ms ms on average in the presence of 4 agents.
After revision:  On average, the Gaussian method requires ~5ms ms to compute a local collision-free trajectory, while our non-Gaussian method is computationally more expensive and requires ~ 9ms on average in the presence of 4 agents.