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

arXiv:2606.27625v1 Announce Type: new Abstract: 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 conflict resolution, exploiting the independence created by ARC's decomposition of the MRMP problem. Additionally, we employ an OR-parallel multi-start strategy to both ARC...