{"ID":5937609,"CreatedAt":"2026-07-07T03:14:33.014478982Z","UpdatedAt":"2026-07-08T05:40:52.147495227Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2607.04124","arxiv_id":"2607.04124","title":"Conflict-Based Lazy Search for Fast Multi-Manipulator Planning","abstract":"Employing multiple manipulators can boost efficiency and accomplish tasks that a single manipulator cannot do. However, real-time planning for multiple manipulators in a cluttered workspace still poses significant challenges for planning algorithms. This article proposes a new planning algorithm called Conflict-Based Lazy Search (CBLS) for multimanipulator planning. CBLS is built on Conflict-Based Search (CBS), an efficient multiagent pathfinding (MAPF) algorithm that has shown an order of magnitude speedup over previous approaches [1], [2]. CBS addresses MAPF by solving many single-agent pathfinding (SAPF) problems. Thus, its planning time directly depends on the efficiency of the SAPF algorithm adopted. Our CBLS algorithm enhances CBS with precomputation and lazy search. First, a lazily evaluated graph with controlled sparsity is precomputed for a single manipulator. Second, we propose the Lazy Edged-based A* (LEA*) for efficient SAPF. Since edge evaluation is the computational bottleneck of manipulator planning, LEA* uses lazy search and an edge queue to reduce the number of edge evaluations. We show that LEA* is optimally vertex efficient and has improved edge efficiency compared to A*. We apply the proposed CBLS to multi-manipulator planning problems and show its superior performance by comparing it with CBS and a sampling-based algorithm, namely, RRT-Connect.","short_abstract":"Employing multiple manipulators can boost efficiency and accomplish tasks that a single manipulator cannot do. However, real-time planning for multiple manipulators in a cluttered workspace still poses significant challenges for planning algorithms. This article proposes a new planning algorithm called Conflict-Based L...","url_abs":"https://arxiv.org/abs/2607.04124","url_pdf":"https://arxiv.org/pdf/2607.04124v1","authors":"[\"Dongliang Zheng\",\"Zhipeng Wang\",\"Siqi Wang\",\"Yuxi Lu\",\"Bin He\",\"Hesheng Wang\",\"Panagiotis Tsiotras\"]","published":"2026-07-05T05:40:46Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.AI\"]","methods":"[]","has_code":false}