ResearchBenchmarksMulti-Robot Motion Planning (Double Integrator model) on Large Cluttered N=25Follow100Success Rate (%)pRRT-4235077May 10, 2026Evaluation ResultsMethodMethodLinksSuccess Rate (%)Completion Time (s)Planning Time (s)pRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.051001.14676KCBSVariant=BaseVariant=Base2026.051004.26727KCBSVariant=KiTE-ExtendVariant=KiTE-Extend2026.051001.83668pRRTVariant=BaseVariant=Base2026.05993.511,018cRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.0551443,611cRRTVariant=BaseVariant=Base2026.050——dbCBSVariant=BaseVariant=Base2026.050——