Multiquery Planning

Multiquery planning aims to efficiently find paths between multiple start and goal pairs within a shared environment, leveraging previously acquired knowledge to reduce computational cost compared to solving each query independently. Current research focuses on algorithms like EIRM* and adaptations of PRM*, which prioritize reusing information about valid paths and strategically decompose collision checking to minimize redundant computations. These advancements significantly improve the speed of pathfinding in applications such as robotics and manipulation planning, offering substantial gains in efficiency for scenarios involving numerous pathfinding queries within a consistent environment.