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…