Search-Based Spatiotemporal and Multi-Robot Motion Planning on Graphs of Space-Time Convex Sets

arXiv:2607.00444v1 Announce Type: new Abstract: Spatiotemporal motion planning, especially in multi-robot settings, requires robots to reason about collision-free regions that change over time, which is challenging in continuous spaces when feasible regions are transient and geometrically constrained. We present an algorithmic framework based on graphs of space-time convex sets (ST-GCSs), where collision-free regions are represented as convex sets in space-time and trajectories correspond to pat...