ResearchBenchmarksMulti-Robot Motion Planning (Double Integrator model) on Swap N=8Multi-Robot Motion Planning (Double Integrator model) on Swap N=8Follow100Success RatecRRT-4235077May 10, 2026Evaluation resultsMethodMethodLinksSuccess RateCompletion Time (s)Planning Time (s)cRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.051000.381279pRRTVariant=BaseVariant=Base2026.051000.105120pRRTVariant=KiTE-ExtendVariant=KiTE-Extend2026.051000.0263108KCBSVariant=BaseVariant=Base2026.051000.129120KCBSVariant=KiTE-ExtendVariant=KiTE-Extend2026.051000.0297109cRRTVariant=BaseVariant=Base2026.052173676dbCBSVariant=BaseVariant=Base2026.050——