3D管道布局中先布线永久占位，后布线需避让，提出新问题与基准测试。
Multi-Group Pipe Routing under Permanent Geometric Occupancy: Problem, Benchmark, and Classical Baselines
- 管道一旦铺设即永久占据空间，后续管道必须绕行，形成几何耦合约束。
- 构建了两组走廊生成器加两组障碍物绘制器的3D可复现基准，含难易可控实例。
- 对比CBS、PBS和优先级规划，验证方法在复杂场景中的成功率差异。
增材制造（AM）使液压部件内部流道可实现自由形态的3D路径，而非传统钻孔。典型应用是旋转式直驱伺服阀中的多组管道布局：一旦管道放置，其几何结构永久占据空间，后续管道必须避开已有结构——这与经典多智能体路径规划（MAPF）中智能体移动后释放空间的情况不同。本文将此设定定义为多组管道布局下的永久几何占位问题。贡献包括：形式化问题并引入几何双重见证冲突机制；构建一个可构造的3D基准（两个走廊生成器 × 两个障碍物绘制器），具备可控难度与可行性验证；提供基于CBS、PBS及优先级规划的经典算法基线。评估以固定时间预算下的成功率为标准。平面切片的困难实例显示CBS优于PBS和优先级规划，较简单实例验证了流程有效性。目标是建立可复现的问题定义、基准集与经典基线，而非提出新的最优MAPF算法。
原文摘要 · Abstract (English)
Additive manufacturing (AM) enables compact hydraulic components whose internal fluid channels can follow free-form 3D paths rather than conventionally drilled holes. A representative case is multi-group channel layout in rotary direct-drive servo valves: once a channel is placed it permanently occupies volume, so later channels must clear earlier geometry--unlike classical multi-agent pathfinding (MAPF), where agents free space after moving. We study this setting as multi-group pipe routing under permanent geometric occupancy. Our contributions are a problem formalization with geometric dual-witness conflicts, a constructive 3D benchmark (two corridor generators x two obstacle painters, controlled difficulty, feasibility witnesses), and baseline results for CBS, PBS, and priority planning adapted to this coupling. We evaluate by success rate under a fixed time budget. PlaneSlice hard instances clearly rank CBS above PBS and PP, while easier cells validate the pipeline. The goal is a reproducible problem definition, suite, and classical baselines--not a new optimal MAPF algorithm.
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