Multi-Group Pipe Routing under Permanent Geometric Occupancy: Problem, Benchmark, and Classical Baselines

Abstract:Additive manufacturing (AM) enables compact hydraulic components whose internal fluid channels can follow free-form 3D paths rather than conventionally drilled holes. A representative case is multi-group channel layout in rotary direct-drive servo valves: once a channel is placed it permanently occupies volume, so later channels must clear earlier geometry--unlike classical multi-agent pathfinding (MAPF), where agents free space after moving. We study this setting as multi-group pipe routing under permanent geometric occupancy. Our contributions are a problem formalization with geometric dual-witness conflicts, a constructive 3D benchmark (two corridor generators x two obstacle painters, controlled difficulty, feasibility witnesses), and baseline results for CBS, PBS, and priority planning adapted to this coupling. We evaluate by success rate under a fixed time budget. PlaneSlice hard instances clearly rank CBS above PBS and PP, while easier cells validate the pipeline. The goal is a reproducible problem definition, suite, and classical baselines--not a new optimal MAPF algorithm.

Robotics (cs.RO)

arXiv:2608.28697 [cs.RO]

(or arXiv:2608.28697v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2608.28697 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

pipe_design/CMakeLists.txt

pipe_design/FIXBUG.md

pipe_design/data/README.md

pipe_design/include/benchmark/GeneratorTypes.h

pipe_design/include/benchmark/GeneratorUtils.h

pipe_design/include/benchmark/README.md

pipe_design/include/benchmark/ROADMAP.md

pipe_design/include/benchmark/Subdomain.h

pipe_design/include/benchmark/axis_ray/AxisRayGenerator.h

pipe_design/include/benchmark/axis_ray/Types.h

pipe_design/include/benchmark/corridor_rack/CorridorRackGenerator.h

pipe_design/include/benchmark/corridor_rack/Types.h

pipe_design/include/benchmark/design_report/DesignReport.h

pipe_design/include/benchmark/gen_robust.sh

pipe_design/include/benchmark/pillar_field/PillarFieldGenerator.h

pipe_design/include/benchmark/pillar_field/Types.h

pipe_design/include/benchmark/plane_slice/PlaneSlicedGenerator.h

pipe_design/include/benchmark/plane_slice/Types.h

pipe_design/include/benchmark/plane_slice/Utils.h

pipe_design/include/benchmark/run_bench.sh

pipe_design/include/conflict/ConflictAnalyzer.h

pipe_design/include/conflict/NearTerminalAnalyzer.h

pipe_design/include/conflict/PathGraph.h

pipe_design/include/conflict/ROADMAP.md

pipe_design/include/conflict/SampleKdTree.h

pipe_design/include/conflict/Types.h

pipe_design/include/geom/Bvh.h

pipe_design/include/geom/Geometry.h

pipe_design/include/geom/Heading.h

pipe_design/include/geom/Types.h

pipe_design/include/grid/CompositeGrid.h

pipe_design/include/grid/ObstacleChain.h

pipe_design/include/grid/README.md

pipe_design/include/grid/StaticClearanceGrid.h

pipe_design/include/grid/Types.h

pipe_design/include/heuristic/Dijkstra.h

pipe_design/include/heuristic/Euclidean.h

pipe_design/include/heuristic/Geometric.h

pipe_design/include/heuristic/Heuristic.h

pipe_design/include/heuristic/Manhattan.h

pipe_design/include/heuristic/Octile.h

pipe_design/include/heuristic/README.md

pipe_design/include/planner/high/CBS.h

pipe_design/include/planner/high/HighLevelPlanner.h

pipe_design/include/planner/high/PBS.h

pipe_design/include/planner/high/PP.h

pipe_design/include/planner/high/ROADMAP.md

pipe_design/include/planner/high/sequence/SequenceReplanner.h

pipe_design/include/planner/low/ANAStar.h

pipe_design/include/planner/low/ARAStar.h

pipe_design/include/planner/low/AStar.h

pipe_design/include/planner/low/AdaptiveStepAStar.h

pipe_design/include/planner/low/BidirectionalAStar.h

pipe_design/include/planner/low/Dijkstra.h

pipe_design/include/planner/low/DirectedAStar.h

pipe_design/include/planner/low/FocalAStar.h

pipe_design/include/planner/low/GreedyBestFirst.h

pipe_design/include/planner/low/LPAStar.h

pipe_design/include/planner/low/LazyThetaStar.h

pipe_design/include/planner/low/LowLevelPlanner.h

pipe_design/include/planner/low/LpaSearchNode.h

pipe_design/include/planner/low/Path.h

pipe_design/include/planner/low/README.md

pipe_design/include/planner/low/REPLAN_ROADMAP.md

pipe_design/include/planner/low/SearchNode.h

pipe_design/include/planner/low/ThetaStar.h

pipe_design/include/planner/motion/ActionModel.h

pipe_design/include/planner/motion/AdaptiveShell.h

pipe_design/include/planner/motion/EightConnected.h

pipe_design/include/planner/motion/Motion.h

pipe_design/include/planner/motion/README.md

pipe_design/include/planner/motion/SixConnected.h

pipe_design/include/planner/motion/TwentySixConnected.h

pipe_design/include/planner/multi/GroupSession.h

pipe_design/include/planner/multi/MultiQueryPlanner.h

pipe_design/include/planner/multi/PartialOrderSequencer.h

pipe_design/include/planner/multi/PrioritySequencer.h

pipe_design/include/planner/multi/README.md

pipe_design/include/planner/multi/ROADMAP.md

pipe_design/include/planner/open/BinaryHeap.h

pipe_design/include/planner/open/BucketHeap.h

pipe_design/include/planner/open/LPAOpenSet.h

pipe_design/include/planner/open/LazyBinaryHeap.h

pipe_design/include/planner/open/OpenSet.h

pipe_design/include/planner/open/PairingHeap.h

pipe_design/include/planner/open/README.md

pipe_design/include/problem/Problem.h

pipe_design/include/topology/Mst.h

pipe_design/include/topology/PureMST.h

pipe_design/include/topology/README.md

pipe_design/include/topology/ROADMAP.md

pipe_design/include/topology/RadiusSpineMSTBuilder.h

pipe_design/include/topology/TopologyBuilder.h

pipe_design/include/topology/Types.h

pipe_design/scripts/__pycache__/view_instance.cpython-310.pyc

pipe_design/scripts/__pycache__/view_instance.cpython-312.pyc

pipe_design/scripts/__pycache__/view_report.cpython-310.pyc

pipe_design/scripts/__pycache__/view_report.cpython-312.pyc

pipe_design/scripts/analyze_runs.py

pipe_design/scripts/view_instance.py

pipe_design/scripts/view_report.py

pipe_design/src/benchmark/GeneratorTypes.cpp

pipe_design/src/benchmark/Subdomain.cpp

pipe_design/src/benchmark/axis_ray/AxisRayGenerator.cpp

pipe_design/src/benchmark/corridor_rack/CorridorRackGenerator.cpp

pipe_design/src/benchmark/design_report/DesignReport.cpp

pipe_design/src/benchmark/main_gen.cpp

pipe_design/src/benchmark/pillar_field/PillarFieldGenerator.cpp

pipe_design/src/benchmark/pipe_run_design.cpp

pipe_design/src/benchmark/plane_slice/PlaneSlicedGenerator.cpp

pipe_design/src/conflict/ConflictAnalyzer.cpp

pipe_design/src/conflict/NearTerminalAnalyzer.cpp

pipe_design/src/conflict/PathGraph.cpp

pipe_design/src/conflict/SampleKdTree.cpp

pipe_design/src/grid/CompositeGrid.cpp

pipe_design/src/grid/ObstacleChain.cpp

pipe_design/src/grid/StaticClearanceGrid.cpp

pipe_design/src/heuristic/Dijkstra.cpp

pipe_design/src/planner/high/CBS.cpp

pipe_design/src/planner/high/PBS.cpp

pipe_design/src/planner/high/PP.cpp

pipe_design/src/planner/high/sequence/SequenceReplanner.cpp

pipe_design/src/planner/low/ANAStar.cpp

pipe_design/src/planner/low/ARAStar.cpp

pipe_design/src/planner/low/AStar.cpp

pipe_design/src/planner/low/AdaptiveStepAStar.cpp

pipe_design/src/planner/low/BidirectionalAStar.cpp

pipe_design/src/planner/low/DirectedAStar.cpp

pipe_design/src/planner/low/FocalAStar.cpp

pipe_design/src/planner/low/LPAStar.cpp

pipe_design/src/planner/low/LazyThetaStar.cpp

pipe_design/src/planner/low/ThetaStar.cpp

pipe_design/src/planner/multi/GroupSession.cpp

pipe_design/src/planner/multi/PartialOrderSequencer.cpp

pipe_design/src/planner/multi/PrioritySequencer.cpp

pipe_design/src/planner/open/BinaryHeap.cpp

pipe_design/src/planner/open/BucketHeap.cpp

pipe_design/src/planner/open/LPAOpenSet.cpp

pipe_design/src/planner/open/LazyBinaryHeap.cpp

pipe_design/src/planner/open/PairingHeap.cpp

pipe_design/src/problem/Problem.cpp

pipe_design/tests/bench_path_graph.cpp

pipe_design/tests/bench_sample_kdtree.cpp

pipe_design/tests/test_adaptive_step.cpp

pipe_design/tests/test_anytime.cpp

pipe_design/tests/test_astar.cpp

pipe_design/tests/test_axis_ray.cpp

pipe_design/tests/test_bidirectional.cpp

pipe_design/tests/test_bvh.cpp

pipe_design/tests/test_cbs.cpp

pipe_design/tests/test_conflict_normalize.cpp

pipe_design/tests/test_corridor_rack.cpp

pipe_design/tests/test_focal.cpp

pipe_design/tests/test_grid.cpp

pipe_design/tests/test_heading.cpp

pipe_design/tests/test_heuristic.cpp

pipe_design/tests/test_motion.cpp

pipe_design/tests/test_mst.cpp

pipe_design/tests/test_multi.cpp

pipe_design/tests/test_near_terminal.cpp

pipe_design/tests/test_open_set.cpp

pipe_design/tests/test_pbs.cpp

pipe_design/tests/test_pillar_field.cpp

pipe_design/tests/test_pp.cpp

pipe_design/tests/test_sample_kdtree.cpp

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