ResearchBenchmarksKinodynamic Multi-agent Path Planning on Large Cluttered UC N=30Kinodynamic Multi-agent Path Planning on Large Cluttered UC N=30Follow65Success Rate (SR)KCBS-2.614.9532.550.05May 10, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Completion Time (s)Planning Time (s)KCBSVariant=KiTEVariant=KiTE2026.05651401,637pRRTVariant=KiTEVariant=KiTE2026.05617.42,390pRRTVariant=BaseVariant=Base2026.05498.34,284KCBSVariant=BaseVariant=Base2026.0542372,702cRRTVariant=BaseVariant=Base2026.050——cRRTVariant=KiTEVariant=KiTE2026.050——dbCBSVariant=BaseVariant=Base2026.050——