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This paper extends the Vector-Accelerated Motion Planning (VAMP) framework to multi-robot motion planning (MRMP) by developing vector-accelerated primitives for MotionValidation (MotVal) and FindFirstConflict (FFC). These primitives leverage SIMD parallelism to achieve over 1100X speedup in motion validation. By integrating these primitives into existing MRMP algorithms, the authors demonstrate planning time speedups of over 850X, achieving multi-robot solutions in milliseconds for some instances.
Multi-robot motion planning can be accelerated by over 850X, enabling solutions in milliseconds, by exploiting SIMD parallelism with vector-accelerated primitives.
In this paper, we extend the recent Vector-Accelerated Motion Planning (VAMP) framework to multi-robot motion planning (MRMP). 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 1100X speedup in validation time. Additionally, we modify a representative set of MRMP algorithms to use these new primitives. The relative speedup for each algorithm is studied on scenarios with manipulator, rigid body, and heterogeneous teams with some instances producing multi-robot solutions in the order of milliseconds and, in many cases, shows planning time speedups of over 850X.
