MR. POP: Multi-Robot Parallel Optimizing Planner for Almost-Surely Asymptotically Optimal Planning

arXiv:2609.30644 · cs.RO · Submitted 2026-09-25 · Read on arXiv

cs.RO

Submitted: 2026-09-25

Updated: 2026-09-25

Code: https://github.com/CoMMALab/MR.POP

Terminology

• Benchmark — 11× in this paper · explained in 2 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Convergence Guarantees — 2× in this paper · explained in 3 episodes
• Core — 2× in this paper · explained in 2 episodes
• Admissibility — 1× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Generative AI — 1× in this paper · explained in 2 episodes

Sources

• cuRoboV2: Dynamics-Aware Motion Generation with Depth-Fused Distance Fields for High-DoF Robots
• Fast-dRRT*: Efficient Multi-Robot Motion Planning for Automated Industrial Manufacturing
• Foam: A Tool for Spherical Approximation of Robot Geometry
• The Open Motion Planning Library 2.0

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