No, not even close. The only thing agreed is that no one knows for sure. Richard had some motive to kill them, but many doubt that he did it, and some speculate that they were killed accidentally, possibly by Richards enemies while trying to free them, or kidnap them depending.

The only person with a serious motive for killing them was Henry VII. Richard III was secure on the throne with a sound claim, acknowledged by Parliament and the Archbishop of Canterbury. The princes' claims were inferior to his because of their illegitimacy, so they were no threat. Henry VII's claim was remote and tenuous at best, through an illegitimate and female line, so the princes' claim was far better than his. They were a serious threat to him. Henry also killed many others who had claims to the throne, so he had previous, as it were.