Multi-Group Pipe Routing under Permanent Geometric Occupancy: Problem, Benchmark, and Classical Baselines
arXiv:2608.28697v1 Announce Type: new Abstract: Additive manufacturing (AM) enables compact hydraulic components whose internal fluid channels can follow free-form 3D paths rather than conventionally drilled holes. A representative case is multi-group channel layout in rotary direct-drive servo valves: once a channel is placed it permanently occupies volume, so later channels must clear earlier geometry--unlike classical multi-agent pathfinding (MAPF), where agents free space after moving. We study this setting as multi-group pipe routing under permanent geometric occupancy. Our contributions are a problem formalization with geometric dual-witness conflicts, a constructive 3D benchmark (two corridor generators x two obstacle painters, controlled difficulty, feasibility witnesses), and baseline results for CBS, PBS, and priority planning adapted to this coupling. We evaluate by success rate under a fixed time budget. PlaneSlice hard instances clearly rank CBS above PBS and PP, while easier cells validate the pipeline. The goal is a reproducible problem definition, suite, and classical baselines--not a new optimal MAPF algorithm.
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[Submitted on 27 Aug 2026]
Title:Multi-Group Pipe Routing under Permanent Geometric Occupancy: Problem, Benchmark, and Classical Baselines
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Abstract:Additive manufacturing (AM) enables compact hydraulic components whose internal fluid channels can follow free-form 3D paths rather than conventionally drilled holes. A representative case is multi-group channel layout in rotary direct-drive servo valves: once a channel is placed it permanently occupies volume, so later channels must clear earlier geometry--unlike classical multi-agent pathfinding (MAPF), where agents free space after moving. We study this setting as multi-group pipe routing under permanent geometric occupancy. Our contributions are a problem formalization with geometric dual-witness conflicts, a constructive 3D benchmark (two corridor generators x two obstacle painters, controlled difficulty, feasibility witnesses), and baseline results for CBS, PBS, and priority planning adapted to this coupling. We evaluate by success rate under a fixed time budget. PlaneSlice hard instances clearly rank CBS above PBS and PP, while easier cells validate the pipeline. The goal is a reproducible problem definition, suite, and classical baselines--not a new optimal MAPF algorithm.
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2608.28697 [cs.RO]
(or arXiv:2608.28697v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2608.28697
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Quan Deng [view email] [v1] Thu, 27 Aug 2026 10:26:21 UTC (324 KB)
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Ancillary files (details):
pipe_design/CMakeLists.txt
pipe_design/FIXBUG.md
pipe_design/data/README.md
pipe_design/include/benchmark/GeneratorTypes.h
pipe_design/include/benchmark/GeneratorUtils.h
pipe_design/include/benchmark/README.md
pipe_design/include/benchmark/ROADMAP.md
pipe_design/include/benchmark/Subdomain.h
pipe_design/include/benchmark/axis_ray/AxisRayGenerator.h
pipe_design/include/benchmark/axis_ray/Types.h
pipe_design/include/benchmark/corridor_rack/CorridorRackGenerator.h
pipe_design/include/benchmark/corridor_rack/Types.h
pipe_design/include/benchmark/design_report/DesignReport.h
pipe_design/include/benchmark/gen_robust.sh
pipe_design/include/benchmark/pillar_field/PillarFieldGenerator.h
pipe_design/include/benchmark/pillar_field/Types.h
pipe_design/include/benchmark/plane_slice/PlaneSlicedGenerator.h
pipe_design/include/benchmark/plane_slice/Types.h
pipe_design/include/benchmark/plane_slice/Utils.h
pipe_design/include/benchmark/run_bench.sh
pipe_design/include/conflict/ConflictAnalyzer.h
pipe_design/include/conflict/NearTerminalAnalyzer.h
pipe_design/include/conflict/PathGraph.h
pipe_design/include/conflict/ROADMAP.md
pipe_design/include/conflict/SampleKdTree.h
pipe_design/include/conflict/Types.h
pipe_design/include/geom/Bvh.h
pipe_design/include/geom/Geometry.h
pipe_design/include/geom/Heading.h
pipe_design/include/geom/Types.h
pipe_design/include/grid/CompositeGrid.h
pipe_design/include/grid/ObstacleChain.h
pipe_design/include/grid/README.md
pipe_design/include/grid/StaticClearanceGrid.h
pipe_design/include/grid/Types.h
pipe_design/include/heuristic/Dijkstra.h
pipe_design/include/heuristic/Euclidean.h
pipe_design/include/heuristic/Geometric.h
pipe_design/include/heuristic/Heuristic.h
pipe_design/include/heuristic/Manhattan.h
pipe_design/include/heuristic/Octile.h
pipe_design/include/heuristic/README.md
pipe_design/include/planner/high/CBS.h
pipe_design/include/planner/high/HighLevelPlanner.h
pipe_design/include/planner/high/PBS.h
pipe_design/include/planner/high/PP.h
pipe_design/include/planner/high/ROADMAP.md
pipe_design/include/planner/high/sequence/GroupLayerSwapReplanner.h
pipe_design/include/planner/high/sequence/SequenceReplanner.h
pipe_design/include/planner/low/ANAStar.h
pipe_design/include/planner/low/ARAStar.h
pipe_design/include/planner/low/AStar.h
pipe_design/include/planner/low/AdaptiveStepAStar.h
pipe_design/include/planner/low/BidirectionalAStar.h
pipe_design/include/planner/low/Dijkstra.h
pipe_design/include/planner/low/DirectedAStar.h
pipe_design/include/planner/low/FocalAStar.h
pipe_design/include/planner/low/GreedyBestFirst.h
pipe_design/include/planner/low/LPAStar.h
pipe_design/include/planner/low/LazyThetaStar.h
pipe_design/include/planner/low/LowLevelPlanner.h
pipe_design/include/planner/low/LpaSearchNode.h
pipe_design/include/planner/low/Path.h
pipe_design/include/planner/low/README.md
pipe_design/include/planner/low/REPLAN_ROADMAP.md
pipe_design/include/planner/low/SearchNode.h
pipe_design/include/planner/low/ThetaStar.h
pipe_design/include/planner/motion/ActionModel.h
pipe_design/include/planner/motion/AdaptiveShell.h
pipe_design/include/planner/motion/EightConnected.h
pipe_design/include/planner/motion/Motion.h
pipe_design/include/planner/motion/README.md
pipe_design/include/planner/motion/SixConnected.h
pipe_design/include/planner/motion/TwentySixConnected.h
pipe_design/include/planner/multi/GroupSession.h
pipe_design/include/planner/multi/MultiQueryPlanner.h
pipe_design/include/planner/multi/PartialOrderSequencer.h
pipe_design/include/planner/multi/PrioritySequencer.h
pipe_design/include/planner/multi/README.md
pipe_design/include/planner/multi/ROADMAP.md
pipe_design/include/planner/open/BinaryHeap.h
pipe_design/include/planner/open/BucketHeap.h
pipe_design/include/planner/open/LPAOpenSet.h
pipe_design/include/planner/open/LazyBinaryHeap.h
pipe_design/include/planner/open/OpenSet.h
pipe_design/include/planner/open/PairingHeap.h
pipe_design/include/planner/open/README.md
pipe_design/include/problem/Problem.h
pipe_design/include/topology/Mst.h
pipe_design/include/topology/PureMST.h
pipe_design/include/topology/README.md
pipe_design/include/topology/ROADMAP.md
pipe_design/include/topology/RadiusPriorityMergeBuilder.h
pipe_design/include/topology/RadiusSpineMSTBuilder.h
pipe_design/include/topology/TopologyBuilder.h
pipe_design/include/topology/Types.h
pipe_design/scripts/pycache/view_instance.cpython-310.pyc
pipe_design/scripts/pycache/view_instance.cpython-312.pyc
pipe_design/scripts/pycache/view_report.cpython-310.pyc
pipe_design/scripts/pycache/view_report.cpython-312.pyc
pipe_design/scripts/analyze_runs.py
pipe_design/scripts/view_instance.py
pipe_design/scripts/view_report.py
pipe_design/src/benchmark/GeneratorTypes.cpp
pipe_design/src/benchmark/Subdomain.cpp
pipe_design/src/benchmark/axis_ray/AxisRayGenerator.cpp
pipe_design/src/benchmark/corridor_rack/CorridorRackGenerator.cpp
pipe_design/src/benchmark/design_report/DesignReport.cpp
pipe_design/src/benchmark/main_gen.cpp
pipe_design/src/benchmark/pillar_field/PillarFieldGenerator.cpp
pipe_design/src/benchmark/pipe_run_design.cpp
pipe_design/src/benchmark/plane_slice/PlaneSlicedGenerator.cpp
pipe_design/src/conflict/ConflictAnalyzer.cpp
pipe_design/src/conflict/NearTerminalAnalyzer.cpp
pipe_design/src/conflict/PathGraph.cpp
pipe_design/src/conflict/SampleKdTree.cpp
pipe_design/src/grid/CompositeGrid.cpp
pipe_design/src/grid/ObstacleChain.cpp
pipe_design/src/grid/StaticClearanceGrid.cpp
pipe_design/src/heuristic/Dijkstra.cpp
pipe_design/src/planner/high/CBS.cpp
pipe_design/src/planner/high/PBS.cpp
pipe_design/src/planner/high/PP.cpp
pipe_design/src/planner/high/sequence/GroupLayerSwapReplanner.cpp
pipe_design/src/planner/high/sequence/SequenceReplanner.cpp
pipe_design/src/planner/low/ANAStar.cpp
pipe_design/src/planner/low/ARAStar.cpp
pipe_design/src/planner/low/AStar.cpp
pipe_design/src/planner/low/AdaptiveStepAStar.cpp
pipe_design/src/planner/low/BidirectionalAStar.cpp
pipe_design/src/planner/low/DirectedAStar.cpp
pipe_design/src/planner/low/FocalAStar.cpp
pipe_design/src/planner/low/LPAStar.cpp
pipe_design/src/planner/low/LazyThetaStar.cpp
pipe_design/src/planner/low/ThetaStar.cpp
pipe_design/src/planner/multi/GroupSession.cpp
pipe_design/src/planner/multi/PartialOrderSequencer.cpp
pipe_design/src/planner/multi/PrioritySequencer.cpp
pipe_design/src/planner/open/BinaryHeap.cpp
pipe_design/src/planner/open/BucketHeap.cpp
pipe_design/src/planner/open/LPAOpenSet.cpp
pipe_design/src/planner/open/LazyBinaryHeap.cpp
pipe_design/src/planner/open/PairingHeap.cpp
pipe_design/src/problem/Problem.cpp
pipe_design/tests/bench_path_graph.cpp
pipe_design/tests/bench_sample_kdtree.cpp
pipe_design/tests/test_adaptive_step.cpp
pipe_design/tests/test_anytime.cpp
pipe_design/tests/test_astar.cpp
pipe_design/tests/test_axis_ray.cpp
pipe_design/tests/test_bidirectional.cpp
pipe_design/tests/test_bvh.cpp
pipe_design/tests/test_cbs.cpp
pipe_design/tests/test_conflict_normalize.cpp
pipe_design/tests/test_corridor_rack.cpp
pipe_design/tests/test_focal.cpp
pipe_design/tests/test_grid.cpp
pipe_design/tests/test_heading.cpp
pipe_design/tests/test_heuristic.cpp
pipe_design/tests/test_motion.cpp
pipe_design/tests/test_mst.cpp
pipe_design/tests/test_multi.cpp
pipe_design/tests/test_near_terminal.cpp
pipe_design/tests/test_open_set.cpp
pipe_design/tests/test_pbs.cpp
pipe_design/tests/test_pillar_field.cpp
pipe_design/tests/test_pp.cpp
pipe_design/tests/test_sample_kdtree.cpp
(163 additional files not shown)
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