https://plancherb1.github.io/tags/ao-x/ Recent content in AO-X on Brian Plancher Hugo -- gohugo.io en-us © {year} Brian Plancher Fri, 25 Sep 2026 00:00:00 +0000 https://plancherb1.github.io/publication/mrpop/ Fri, 25 Sep 2026 00:00:00 +0000 https://plancherb1.github.io/publication/mrpop/ We introduce MR. POP, a GPU-based a.s.a.o. multi-robot planner based on dRRT and the AO-x meta-algorithm. MR. POP uses large-scale GPU-based SIMT-parallelism to simultaneously run hundreds of roadmap construction and tree search iterations with underlying parallel nearest neighbor search and collision checking operations. We show that this enables MR. POP to become the only planner achieving a 100% solve rate while being faster than state-of-the-art a.s.a.o. planners in multi-robot systems up to 35-DOF. MR. POP also raises the success rate of downstream motion optimizers (e.g., from 4% to 72%), by creating high-quality, diverse seeds that help avoid local minima.