AI 中文总结
针对增材制造中多组流道永久占用体积的路由问题，提出带几何双见证冲突的形式化方法、可控难度的3D基准及CBS等经典基线，验证了CBS性能更优。
AI 中文摘要
增材制造（AM）可制造出紧凑的液压元件，其内部流道可遵循自由形式的3D路径，而非传统的钻孔。一个典型案例是旋转直驱伺服阀中的多组流道布局：流道一旦放置就会永久占用体积，因此后续流道必须避开先前的几何结构——这与经典的多智能体路径查找（MAPF）不同，智能体移动后会释放空间。我们将此场景研究为永久几何占用下的多组管道路由问题。我们的贡献包括：带几何双见证冲突的问题形式化、可构造的3D基准（含两个走廊生成器×两个障碍物绘制器，难度可控，含可行性见证），以及适配该耦合场景的CBS、PBS和优先级规划（PP）的基线结果。我们在固定时间预算下按成功率进行评估。PlaneSlice的困难实例明确显示CBS的表现优于PBS和PP，而较简单的实例则验证了该流程。本研究的目标是提供可复现的问题定义、测试集及经典基线，而非提出新的最优MAPF算法。
英文摘要
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.
