ResearchBenchmarksMulti-Robot Motion Planning (Double Integrator model) on Swap N=20Follow100Success Rate (SR)cRRT-4235077May 10, 2026Evaluation ResultsMethodMethodLinksSuccess Rate (SR)Completion Time (CT) (s)Planning Time (PT) (s)cRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.051003.57989pRRTVariant=BaseVariant=Base2026.051000.269253pRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.051000.0635229KCBSVariant=BaseVariant=Base2026.051000.275251KCBSVariant=KiTE-ExtendVariant=KiTE-Extend2026.051000.0639226cRRTVariant=BaseVariant=Base2026.050——dbCBSVariant=BaseVariant=Base2026.050——