ResearchBenchmarksMulti-Robot Motion Planning (Double Integrator model) on Swap N=25Follow100Success RatecRRT-4235077May 10, 2026Evaluation ResultsMethodMethodLinksSuccess RateCompletion Time (s)Planning Time (s)cRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.051006.641,444pRRTVariant=BaseVariant=Base2026.051000.347339pRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.051000.0837307KCBSVariant=BaseVariant=Base2026.051000.38335KCBSVariant=KiTE-ExtendVariant=KiTE-Extend2026.051000.0918305cRRTVariant=BaseVariant=Base2026.050——dbCBSVariant=BaseVariant=Base2026.050——