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.
From: James Motes [view email]
[v1]
Mon, 27 Apr 2026 02:07:14 UTC (2,799 KB)
[v2]
Wed, 5 Aug 2026 18:06:02 UTC (2,094 KB)
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