ResearchBenchmarksKinodynamic Multi-agent Path Planning on Small Cluttered SOC N=15Kinodynamic Multi-agent Path Planning on Small Cluttered SOC N=15Follow99Success RateKCBS-3.9622.7749.576.23May 10, 2026Evaluation resultsMethodMethodLinksSuccess RateCompletion Time (s)Planning Time (s)KCBSVariant=KiTEVariant=KiTE2026.059943.2250pRRTVariant=KiTEVariant=KiTE2026.057926504pRRTVariant=BaseVariant=Base2026.057350.4632KCBSVariant=BaseVariant=Base2026.0573141290cRRTVariant=KiTEVariant=KiTE2026.05332442,211cRRTVariant=BaseVariant=Base2026.050——dbCBSVariant=BaseVariant=Base2026.050——