# WarpWeaver: A Decentralized Real-Time Planner for Multi-Robot Coordination

- Source: arXiv cs.RO
- Published: 2026-10-23T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/zep6ctx6j8a3xw52fai91q4rw
- Original: https://arxiv.org/abs/2610.31540

## Summary

The paper proposes WarpWeaver, a decentralized real-time planner that negotiates shared-space rents among robots through decentralized column generation, so that the dispersive trees searched by each robot converge to a near-optimal consistent solution. In Dynobench simulations, its total travel time is up to 22% lower than a centralized offline planner and up to 37% lower than decentralized real-time baselines, and on a graph-connectivity task it nearly doubles the success rate of a specialized planner. Onboard planning experiments with six robots verified practical deployability.