ResearchBenchmarksMulti-Robot Motion Planning (Double Integrator model) on Swap N=15Follow100Success RatecRRT-4235077May 10, 2026Evaluation ResultsMethodMethodLinksSuccess RateCompletion Time (s)Planning Time (s)cRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.051001.79663pRRTVariant=BaseVariant=Base2026.051000.198203pRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.051000.046183KCBSVariant=BaseVariant=Base2026.051000.214199KCBSVariant=KiTE-ExtendVariant=KiTE-Extend2026.051000.0511181cRRTVariant=BaseVariant=Base2026.050——dbCBSVariant=BaseVariant=Base2026.050——