ResearchBenchmarksKinodynamic Multi-agent Path Planning on Swap 3D DI (N=30)Kinodynamic Multi-agent Path Planning on Swap 3D DI (N=30)Follow100SRcRRT-4235077May 10, 2026Evaluation resultsMethodMethodLinksSRCompletion Time (s)Planning Time (s)cRRTVariant=KiTEVariant=KiTE2026.0510011.71,864pRRTVariant=BaseVariant=Base2026.051000.473421pRRTVariant=KiTEVariant=KiTE2026.051000.0989375KCBSVariant=BaseVariant=Base2026.051000.461409KCBSVariant=KiTEVariant=KiTE2026.051000.111373cRRTVariant=BaseVariant=Base2026.050——dbCBSVariant=BaseVariant=Base2026.050——