PAPER Publications / 2026

db-LaCAM: Fast and Scalable Multi-Robot Kinodynamic Motion Planning with Discontinuity-Bounded Search and Lightweight MAPF

Akmaral Moldagalieva, Keisuke Okumura, Amanda Prorok, Wolfgang Hönig

ICAPS 2026 · June 2026

Abstract

A multi-robot kinodynamic motion planner that combines the scalability and speed of modern multi-agent path finding (MAPF) with the dynamic-awareness of kinodynamic planners. discontinuity-Bounded LaCAM (db-LaCAM) uses a precomputed set of motion primitives that respect robot dynamics to generate horizon-length motion sequences, while allowing a user-defined discontinuity between successive motions. It is resolution-complete with respect to motion primitives, scales to 50 robots with up to ten times faster runtime than state-of-the-art planners, and is validated on teams of flying robots and car-with-trailer robots.

Paper

Themes

Agile, dense aerial swarms

BibTeX

@inproceedings{moldagalieva2026dblacam,
  title     = {db-LaCAM: Fast and Scalable Multi-Robot Kinodynamic Motion Planning with Discontinuity-Bounded Search and Lightweight MAPF},
  author    = {Moldagalieva, Akmaral and Okumura, Keisuke and Prorok, Amanda and H\"onig, Wolfgang},
  booktitle = {Proceedings of the International Conference on Automated Planning and Scheduling},
  volume    = {36},
  number    = {1},
  pages     = {738--746},
  year      = {2026},
}

Cite as

Moldagalieva, A., Okumura, K., Prorok, A., Hönig, W. (2026). db-LaCAM: Fast and Scalable Multi-Robot Kinodynamic Motion Planning with Discontinuity-Bounded Search and Lightweight MAPF. ICAPS 2026.

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