ResearchBenchmarksMulti-Robot Motion Planning (Double Integrator model) on Swap N=4Multi-Robot Motion Planning (Double Integrator model) on Swap N=4Follow100Success Rate (%)cRRT9597.5100102.5May 10, 2026Evaluation resultsMethodMethodLinksSuccess Rate (%)Completion Time (s)Planning Time (s)cRRTVariant=BaseVariant=Base2026.051003.74214cRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.051000.0722103pRRTVariant=BaseVariant=Base2026.051000.048458.7pRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.051000.012753KCBSVariant=BaseVariant=Base2026.051000.080857.3KCBSVariant=KiTE-ExtendVariant=KiTE-Extend2026.051000.024653.5dbCBSVariant=BaseVariant=Base2026.0510023151.7