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

原文アブストラクト

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.