Publication

S. Zhao, A. G. Philip, S. Rathinam, H. Choset and Z. Ren. CB-GCS: Conflict-Based Search on the Graph of Convex Sets for Multi-Agent Motion Planning. In IEEE International Conference on Automation Science and Engineering (CASE), pages 2208-2214, 2025.

Abstract: This paper presents CB-GCS, a Conflict-Based Search method on time- augmented graphs of convex sets for Multi-Agent Motion Planning in continuous workspaces. Individual-agent trajectories are represented in graphs of convex sets, and agent-agent conflicts are resolved by adding constraints during search. The method is compared with graph-based, sampling-based, and MILP baselines. Experiments show that CB-GCS often finds solutions with much smaller optimality gaps under the same runtime limits.

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