cs.ROApr 27, 2026

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

Authors: James D. MotesMarco MoralesNancy M. Amato

Abstract

In this paper, we extend the recent Vector-Accelerated Motion Planning (VAMP) framework to multi-robot motion planning (MRMP). 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 1100X speedup in validation time. Additionally, we modify a representative set of MRMP algorithms to use these new primitives. The relative speedup for each algorithm is studied on scenarios with manipulator, rigid body, and heterogeneous teams with some instances producing multi-robot solutions in the order of milliseconds and, in many cases, shows planning time speedups of over 850X.

Explore similar work

CardsList
  1. Asymptotically Optimal Multi-Robot Task and Motion Planning

    Sep 16, 2026Thi Thuy Ngan Duong, Cheuk Tung Shadow Yiu, Rahul Shome +1Multi-Robot Motion PlanningMulti-Robot Systems