ResearchBenchmarksKinodynamic Multi-agent Path Planning on Small Cluttered SOC N=8Kinodynamic Multi-agent Path Planning on Small Cluttered SOC N=8Follow100Success Rate (SR)KCBS-4235077May 10, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Completion Time (s)Planning Time (s)KCBSVariant=BaseVariant=Base2026.051007.13188KCBSVariant=KiTEVariant=KiTE2026.051001.72146pRRTVariant=KiTEVariant=KiTE2026.05975.68219pRRTVariant=BaseVariant=Base2026.05957.27278cRRTVariant=KiTEVariant=KiTE2026.059313643cRRTVariant=BaseVariant=Base2026.0512211,668dbCBSVariant=BaseVariant=Base2026.050——