ResearchBenchmarksMulti-Robot Motion Planning (Double Integrator model) on Large Cluttered N=15Follow100Success RatepRRT-4235077May 10, 2026Evaluation ResultsMethodMethodLinksSuccess RateCompletion Time (s)Planning Time (s)pRRTVariant=BaseVariant=Base2026.051003.89648pRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.051001.97426KCBSVariant=BaseVariant=Base2026.051007.63460KCBSVariant=KiTE-ExtendVariant=KiTE-Extend2026.051001.06424cRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.054368.41,700cRRTVariant=BaseVariant=Base2026.050——dbCBSVariant=BaseVariant=Base2026.050——