ResearchBenchmarksMulti-Robot Motion Planning (Double Integrator model) on Swap N=10Follow100Success Rate (SR)cRRT-4235077May 10, 2026Evaluation ResultsMethodMethodLinksSuccess Rate (SR)Completion Time (CT) (s)Planning Time (PT) (s)cRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.051000.621351pRRTVariant=BaseVariant=Base2026.051000.111123pRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.051000.0296111KCBSVariant=BaseVariant=Base2026.051000.184123KCBSVariant=KiTE-ExtendVariant=KiTE-Extend2026.051000.0923111cRRTVariant=BaseVariant=Base2026.050——dbCBSVariant=BaseVariant=Base2026.050——