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MR-SPITE: Accelerating Multi-Robot Conflict Scans via Hierarchical Swept-Volume Approximations

arXiv · AI, language, vision and robotics · article · Sep 20, 2026 · UTC

Conflict scanning over synchronized robot paths requires detailed collision checking, potentially across every robot pair at every timestep, and may be repeated many times as conflicts are repaired. We present Multi-Robot SPITE (MR-SPITE), a conservative, motion-segment-based filter for accelerating these scans. MR-SPITE partitions each path into temporal intervals and assigns conservative bounds to each segment. An interval scheduler compares bounds for temporally overlapping motions: disjoint bounds certify the shared window as conflict-free, while unresolved windows are passed to the underl

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