ResearchBenchmarksKinodynamic Multi-agent Path Planning on Swap 3D DI (N=20)Kinodynamic Multi-agent Path Planning on Swap 3D DI (N=20)Follow100Success RatecRRT-4235077May 10, 2026Evaluation resultsMethodMethodLinksSuccess RateCompletion Time (s)Planning Time (s)cRRTVariant=KiTEVariant=KiTE2026.051003.57989pRRTVariant=BaseVariant=Base2026.051000.269253pRRTVariant=KiTEVariant=KiTE2026.051000.0635229KCBSVariant=BaseVariant=Base2026.051000.275251KCBSVariant=KiTEVariant=KiTE2026.051000.0639226cRRTVariant=BaseVariant=Base2026.050——dbCBSVariant=BaseVariant=Base2026.050——