Presents a collision-graph decomposition pipeline that breaks coupled motion planning for hundreds of omnidirectional floating robots into parallel-solvable interaction clusters, validated in simulation to 500 agents and real demos with 24 robots.
Conflict-based search for optimal multi-agent pathfinding
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Motion planning for hundreds of floating robots
Presents a collision-graph decomposition pipeline that breaks coupled motion planning for hundreds of omnidirectional floating robots into parallel-solvable interaction clusters, validated in simulation to 500 agents and real demos with 24 robots.
- Dual-Informed Vertical Expansion for Multi-Objective Node Selection in Anytime Conflict-Based Search
- Multi-Robot Motions in Milliseconds: Vector-Accelerated Primitives for Sampling-Based Planning