ResearchBenchmarksMulti-Robot Motion Planning (Double Integrator model) on Swap N=30Follow100Success RatecRRT-4235077May 10, 2026Evaluation ResultsMethodMethodLinksSuccess RateCompletion Time (s)Planning Time (s)cRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.0510011.71,864pRRTVariant=BaseVariant=Base2026.051000.473421pRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.051000.0989375KCBSVariant=BaseVariant=Base2026.051000.461409KCBSVariant=KiTE-ExtendVariant=KiTE-Extend2026.051000.111373cRRTVariant=BaseVariant=Base2026.050——dbCBSVariant=BaseVariant=Base2026.050——