ResearchBenchmarksMulti-Robot Motion Planning (Double Integrator model) on Large Cluttered N=5Follow100Success RatecRRT-4235077May 10, 2026Evaluation ResultsMethodMethodLinksSuccess RateCompletion Time (s)Planning Time (s)cRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.051005.32381pRRTVariant=BaseVariant=Base2026.051000.29272pRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.051000.097176KCBSVariant=BaseVariant=Base2026.051000.444195KCBSVariant=KiTE-ExtendVariant=KiTE-Extend2026.051000.179176cRRTVariant=BaseVariant=Base2026.051154785dbCBSVariant=BaseVariant=Base2026.050——