ResearchBenchmarksMulti-Robot Motion Planning (Double Integrator model) on Large Cluttered N=20Follow100Success RatepRRT-4235077May 10, 2026Evaluation ResultsMethodMethodLinksSuccess RateCompletion Time (s)Planning Time (s)pRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.051001.27553KCBSVariant=BaseVariant=Base2026.051005.14599KCBSVariant=KiTE-ExtendVariant=KiTE-Extend2026.051001.14548pRRTVariant=BaseVariant=Base2026.05992.8836cRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.0551652,917cRRTVariant=BaseVariant=Base2026.050——dbCBSVariant=BaseVariant=Base2026.050——