ResearchBenchmarksMulti-Robot Motion Planning (Double Integrator model) on Large Cluttered N=6Follow100Success RatepRRT-4235077May 10, 2026Evaluation ResultsMethodMethodLinksSuccess RateCompletion Time (s)Planning Time (s)pRRTVariant=BaseVariant=Base2026.051000.434299pRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.051000.118194KCBSVariant=BaseVariant=Base2026.051000.593214KCBSVariant=KiTE-ExtendVariant=KiTE-Extend2026.051000.218194cRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.05988.53466cRRTVariant=BaseVariant=Base2026.050——dbCBSVariant=BaseVariant=Base2026.050——