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Multi-Group Pipe Routing under Permanent Geometric Occupancy: Problem, Benchmark, and Classical Baselines

arXiv · AI, language, vision and robotics · article · Aug 27, 2026 · UTC

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-

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