ResearchBenchmarksKinodynamic Multi-agent Path Planning on Large Cluttered UC N=20Kinodynamic Multi-agent Path Planning on Large Cluttered UC N=20Follow100Success RateKCBS-4235077May 10, 2026Evaluation resultsMethodMethodLinksSuccess RateCompletion Time (s)Planning Time (s)KCBSVariant=KiTEVariant=KiTE2026.0510038.71,070KCBSVariant=BaseVariant=Base2026.05901061,753cRRTVariant=KiTEVariant=KiTE2026.05432487,353pRRTVariant=KiTEVariant=KiTE2026.051328.31,477pRRTVariant=BaseVariant=Base2026.05630.32,557cRRTVariant=BaseVariant=Base2026.050——dbCBSVariant=BaseVariant=Base2026.050——