Multi-Robot Motions in Milliseconds: Vector-Accelerated Primitives for Sampling-Based Planning

Abstract:In this paper, we extend the recent Vector-Accelerated Motion Planning (VAMP) framework to multi-robot motion planning. We develop two vector-accelerated primitives, multi-robot MotionValidation (MotVal) and FindFirstConflict (FFC), which exploit SIMD parallelism within the multi-robot domain. On pure multi-robot motion validation tests, this achieves over 1415X speedup in validation time. Additionally, we modify a representative set of algorithms to use these new primitives. We evaluate five vector-accelerated multi-robot motion planning (VA-MRMP) algorithms on manipulator, 2D mobile robot, and heterogeneous teams, observing planning speedups over FCL of up to 1492X. With VA-MRMP, all five planners attain subsecond median runtimes on problems with four Panda manipulators.

Robotics (cs.RO)

arXiv:2604.23960 [cs.RO]

(or arXiv:2604.23960v2 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2604.23960 Focus to learn more arXiv-issued DOI via DataCite

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