diff --git a/pcbnew/router/pns_item.cpp b/pcbnew/router/pns_item.cpp
index f3cbb1df76..9068c2de64 100644
--- a/pcbnew/router/pns_item.cpp
+++ b/pcbnew/router/pns_item.cpp
@@ -2,7 +2,7 @@
  * KiRouter - a push-and-(sometimes-)shove PCB router
  *
  * Copyright (C) 2013-2014 CERN
- * Copyright (C) 2016-2020 KiCad Developers, see AUTHORS.txt for contributors.
+ * Copyright (C) 2016-2022 KiCad Developers, see AUTHORS.txt for contributors.
  * Author: Tomasz Wlostowski <tomasz.wlostowski@cern.ch>
  *
  * This program is free software: you can redistribute it and/or modify it
@@ -129,7 +129,19 @@ bool ITEM::collideSimple( const ITEM* aOther, const NODE* aNode, bool aDifferent
         return false;
 
     int clearance = aOverrideClearance >= 0 ? aOverrideClearance : aNode->GetClearance( this, aOther );
-    return shapeA->Collide( shapeB, clearance + lineWidthA + lineWidthB );
+
+    if( m_parent && m_parent->GetLayer() == Edge_Cuts )
+    {
+        int      actual;
+        VECTOR2I pos;
+
+        return( shapeA->Collide( shapeB, clearance + lineWidthA, &actual, &pos )
+                    && !aNode->QueryEdgeExclusions( pos ) );
+    }
+    else
+    {
+        return shapeA->Collide( shapeB, clearance + lineWidthA + lineWidthB );
+    }
 }
 
 
diff --git a/pcbnew/router/pns_kicad_iface.cpp b/pcbnew/router/pns_kicad_iface.cpp
index 93fdb2ac9a..0f3a928efd 100644
--- a/pcbnew/router/pns_kicad_iface.cpp
+++ b/pcbnew/router/pns_kicad_iface.cpp
@@ -1285,6 +1285,13 @@ void PNS_KICAD_IFACE_BASE::SyncWorld( PNS::NODE *aWorld )
                 aWorld->Add( std::move( solid ) );
 
             worstClearance = std::max( worstClearance, pad->GetLocalClearance() );
+
+            if( pad->GetProperty() == PAD_PROP::CASTELLATED )
+            {
+                std::unique_ptr<SHAPE> hole;
+                hole.reset( new SHAPE_SEGMENT( *pad->GetEffectiveHoleShape() ) );
+                aWorld->AddEdgeExclusion( std::move( hole ) );
+            }
         }
 
         syncTextItem( aWorld, &footprint->Reference(), footprint->Reference().GetLayer() );
diff --git a/pcbnew/router/pns_node.cpp b/pcbnew/router/pns_node.cpp
index 6c74067500..cacc759eb4 100644
--- a/pcbnew/router/pns_node.cpp
+++ b/pcbnew/router/pns_node.cpp
@@ -2,7 +2,7 @@
  * KiRouter - a push-and-(sometimes-)shove PCB router
  *
  * Copyright (C) 2013-2019 CERN
- * Copyright (C) 2016-2021 KiCad Developers, see AUTHORS.txt for contributors.
+ * Copyright (C) 2016-2022 KiCad Developers, see AUTHORS.txt for contributors.
  *
  * @author Tomasz Wlostowski <tomasz.wlostowski@cern.ch>
  *
@@ -717,6 +717,24 @@ void NODE::Add( std::unique_ptr< ITEM > aItem, bool aAllowRedundant )
 }
 
 
+void NODE::AddEdgeExclusion( std::unique_ptr<SHAPE> aShape )
+{
+    m_edgeExclusions.push_back( std::move( aShape ) );
+}
+
+
+bool NODE::QueryEdgeExclusions( const VECTOR2I& aPos ) const
+{
+    for( const std::unique_ptr<SHAPE>& edgeExclusion : m_edgeExclusions )
+    {
+        if( edgeExclusion->Collide( aPos ) )
+            return true;
+    }
+
+    return false;
+}
+
+
 void NODE::doRemove( ITEM* aItem )
 {
     // case 1: removing an item that is stored in the root node from any branch:
diff --git a/pcbnew/router/pns_node.h b/pcbnew/router/pns_node.h
index 0ed7f1f662..2f1740c783 100644
--- a/pcbnew/router/pns_node.h
+++ b/pcbnew/router/pns_node.h
@@ -2,7 +2,7 @@
  * KiRouter - a push-and-(sometimes-)shove PCB router
  *
  * Copyright (C) 2013-2014 CERN
- * Copyright (C) 2016-2021 KiCad Developers, see AUTHORS.txt for contributors.
+ * Copyright (C) 2016-2022 KiCad Developers, see AUTHORS.txt for contributors.
  *
  * @author Tomasz Wlostowski <tomasz.wlostowski@cern.ch>
  *
@@ -278,6 +278,10 @@ public:
 
     void Add( LINE& aLine, bool aAllowRedundant = false );
 
+    void AddEdgeExclusion( std::unique_ptr<SHAPE> aShape );
+
+    bool QueryEdgeExclusions( const VECTOR2I& aPos ) const;
+
     /**
      * Remove an item from this branch.
      */
@@ -484,6 +488,8 @@ private:
     int             m_depth;            ///< depth of the node (number of parent nodes in the
                                         ///< inheritance chain)
 
+    std::vector< std::unique_ptr<SHAPE> > m_edgeExclusions;
+
     std::unordered_set<ITEM*> m_garbageItems;
 
     COLLISION_QUERY_SCOPE m_collisionQueryScope;