ResearchBenchmarksKinodynamic Multi-agent Path Planning on Swap 3D DI N=5Follow100Success Rate (SR)cRRT58.469.28090.8May 10, 2026Evaluation ResultsMethodMethodLinksSuccess Rate (SR)Completion Time (CT) (s)Planning Time (PT) (s)cRRTVariant=KiTEVariant=KiTE2026.051000.115140pRRTVariant=BaseVariant=Base2026.051000.054969.4pRRTVariant=KiTEVariant=KiTE2026.051000.01664.1KCBSVariant=BaseVariant=Base2026.051000.063270.7KCBSVariant=KiTEVariant=KiTE2026.051000.027264.8cRRTVariant=BaseVariant=Base2026.059327.9313dbCBSVariant=BaseVariant=Base2026.056029064.6