James D. Motes

2 papers indexed

arxivcs.ROcs.DC2026-06-26

P-ARC: Exploiting Subproblem Independence for Parallel Multi-Robot Motion Planning

James D. Motes, Marco Morales, Nancy M. Amato

This paper presents Parallel ARC (P-ARC), a parallel variant of the Adaptive Robot Coordination (ARC) approach to multi-robot motion planning (MRMP). P-ARC proposes a parallel variant for each of the three main stages in ARC: initial individual solutions, conflict detection, and…

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arxivcs.RO2026-06-25

AO-ARC: Almost-Surely Asymptotically Optimal Multi-Robot Motion Planning with ARC

James D. Motes, Marco Morales, Nancy M. Amato

We present AO-ARC, an anytime multi-robot motion planning (MRMP) method that achieves initial solution times on par with state-of-the-art MRMP feasibility solvers while converging faster and more reliably than existing anytime MRMP methods as the number of robots increases. AO-AR…

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