待翻譯：Multi-Group Pipe Routing under Permanent Geometric Occupancy: Problem, Benchmark, and Classical Baselines

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--> [Submitted on 27 Aug 2026] Title:Multi-Group Pipe Routing under Permanent Geometric Occupancy: Problem, Benchmark, and Classical Baselines View a PDF of the paper titled Multi-Group Pipe Routing under Permanent Geometric Occupancy: Problem, Benchmark, and Classical Baselines, by Deng Quan View PDF HTML (experimental) 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) Full-text links: Access Paper: View a PDF of the paper titled Multi-Group Pipe Routing under Permanent Geometric Occupancy: Problem, Benchmark, and Classical Baselines, by Deng Quan View PDF HTML (experimental) TeX Source view license Ancillary-file links: 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) Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... 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