ResearchBenchmarksMulti-Robot Motion Planning (Double Integrator model) on Swap N=5Multi-Robot Motion Planning (Double Integrator model) on Swap N=5Follow100Success Rate (%)cRRT58.469.28090.8May 10, 2026Evaluation resultsMethodMethodLinksSuccess Rate (%)Completion Time (s)Planning Time (s)cRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.051000.115140pRRTVariant=BaseVariant=Base2026.051000.054969.4pRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.051000.01664.1KCBSVariant=BaseVariant=Base2026.051000.063270.7KCBSVariant=KiTE-ExtendVariant=KiTE-Extend2026.051000.027263.8cRRTVariant=BaseVariant=Base2026.059327.9313dbCBSVariant=BaseVariant=Base2026.056029064.6