GRACE: A Unified 2D Multi-Robot Path Planning Simulator & Benchmark for Grid, Roadmap, And Continuous Environments
Fuente:
arXiv
Salvato in:
| Autori principali: | , , , , , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2026
|
| Soggetti: | |
| Accesso online: | |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
| _version_ | 1866914386410471424 |
|---|---|
| author | Zang, Chuanlong Mannucci, Anna Barz, Isabelle Schillinger, Philipp Lier, Florian Hönig, Wolfgang |
| author_facet | Zang, Chuanlong Mannucci, Anna Barz, Isabelle Schillinger, Philipp Lier, Florian Hönig, Wolfgang |
| contents | Advancing Multi-Agent Pathfinding (MAPF) and Multi-Robot Motion Planning (MRMP) requires platforms that enable transparent, reproducible comparisons across modeling choices. Existing tools either scale under simplifying assumptions (grids, homogeneous agents) or offer higher fidelity with less comparable instrumentation. We present GRACE, a unified 2D simulator+benchmark that instantiates the same task at multiple abstraction levels (grid, roadmap, continuous) via explicit, reproducible operators and a common evaluation protocol. Our empirical results on public maps and representative planners enable commensurate comparisons on a shared instance set. Furthermore, we quantify the expected representation-fidelity trade-offs (MRMP solves instances at higher fidelity but lower speed, while grid/roadmap planners scale farther). By consolidating representation, execution, and evaluation, GRACE thereby aims to make cross-representation studies more comparable and provides a means to advance multi-robot planning research and its translation to practice. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_10858 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | GRACE: A Unified 2D Multi-Robot Path Planning Simulator & Benchmark for Grid, Roadmap, And Continuous Environments Zang, Chuanlong Mannucci, Anna Barz, Isabelle Schillinger, Philipp Lier, Florian Hönig, Wolfgang Robotics Artificial Intelligence Multiagent Systems Advancing Multi-Agent Pathfinding (MAPF) and Multi-Robot Motion Planning (MRMP) requires platforms that enable transparent, reproducible comparisons across modeling choices. Existing tools either scale under simplifying assumptions (grids, homogeneous agents) or offer higher fidelity with less comparable instrumentation. We present GRACE, a unified 2D simulator+benchmark that instantiates the same task at multiple abstraction levels (grid, roadmap, continuous) via explicit, reproducible operators and a common evaluation protocol. Our empirical results on public maps and representative planners enable commensurate comparisons on a shared instance set. Furthermore, we quantify the expected representation-fidelity trade-offs (MRMP solves instances at higher fidelity but lower speed, while grid/roadmap planners scale farther). By consolidating representation, execution, and evaluation, GRACE thereby aims to make cross-representation studies more comparable and provides a means to advance multi-robot planning research and its translation to practice. |
| title | GRACE: A Unified 2D Multi-Robot Path Planning Simulator & Benchmark for Grid, Roadmap, And Continuous Environments |
| topic | Robotics Artificial Intelligence Multiagent Systems |
| url | https://arxiv.org/abs/2603.10858 |