ResearchBenchmarksMulti-Robot Motion Planning (Double Integrator model) on Large Cluttered N=10Follow100SRpRRT-4235077May 10, 2026Evaluation ResultsMethodMethodLinksSRCompletion Time (CT) (s)Planning Time (PT) (s)pRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.051001.21303KCBSVariant=BaseVariant=Base2026.051007329KCBSVariant=KiTE-ExtendVariant=KiTE-Extend2026.051001.36303pRRTVariant=BaseVariant=Base2026.05993.91463cRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.058527.3984cRRTVariant=BaseVariant=Base2026.050——dbCBSVariant=BaseVariant=Base2026.050——