Euclidean Steiner trees are relevant to model minimal networks in real-world applications ubiquitously. In this paper, we study the feasibility of a hierarchical approach embedded with bundling operations to compute multiple and mutually disjoint Euclidean Steiner trees that avoid clutter and overlapping with obstacles in the plane, which is significant to model the decentralized and the multipoint coordination of agents in constrained 2D domains. Our computational experiments using arbitrary obstacle configuration with convex and non-convex geometries show the feasibility and the attractive performance when computing multiple obstacle-avoiding Steiner trees in the plane. Our results offer the mechanisms to elucidate new operators for obstacle-avoiding Steiner trees.

翻译：欧几里得斯坦纳树在现实应用中普遍用于建模最小网络。本文研究了一种嵌入捆绑操作的分层方法的可行性，用于计算多个互不相交的欧几里得斯坦纳树，这些树能够避免平面中的杂乱和与障碍物的重叠。该方法对于建模受限二维域中智能体的分散式多点协调具有重要意义。我们使用具有凸和非凸几何形状的任意障碍物配置进行的计算实验表明，在计算平面中多个避障斯坦纳树时，该方法具有可行性和优异性能。我们的结果为阐明避障斯坦纳树的新算子提供了机制。