ResearchBenchmarksKinodynamic Multi-agent Path Planning on Large Cluttered DI N=30Follow100Success Rate (SR)pRRT-4235077May 10, 2026Evaluation ResultsMethodMethodLinksSuccess Rate (SR)Completion Time (CT) (s)Planning Time (PT) (s)pRRTVariant=BaseVariant=Base2026.051004.551,171pRRTVariant=KiTEVariant=KiTE2026.051001.51780KCBSVariant=BaseVariant=Base2026.051005.6831KCBSVariant=KiTEVariant=KiTE2026.051002.02768cRRTVariant=BaseVariant=Base2026.050——cRRTVariant=KiTEVariant=KiTE2026.050——dbCBSVariant=BaseVariant=Base2026.050——