2 citations · 2 across the 11 of their papers we have counts for
14 papers
Sampling-Based Visibility Task Planning
Stav Ashur, Avishai Sintov
Robot Task and Motion Planning (TAMP) algorithms enable autonomous operation by incorporating the specific functions and constraints of end-effector tools, such as grippers or sold…
Serialized Red-Green-Gray: Quicker Heuristic Validation of Edges in Dynamic Roadmap Graphs
Yulie Arad, Stav Ashur, Marta Markowicz +3
Motion planning in dynamic environments, such as robotic warehouses, requires fast adaptation to frequent changes in obstacle poses. Traditional roadmap-based methods struggle in s…
Quick Heuristic Validation of Edges in Dynamic Roadmap Graphs
Yulie Arad, Stav Ashur, Nancy M. Amato
In this paper we tackle the problem of adjusting roadmap graphs for robot motion planning to non-static environments. We introduce the "Red-Green-Gray" paradigm, a modification of…
Edge Nearest Neighbor in Sampling-Based Motion Planning
Stav Ashur, Nancy M. Amato, Sariel Har-Peled
Neighborhood finders and nearest neighbor queries are fundamental parts of sampling based motion planning algorithms. Using different distance metrics or otherwise changing the def…
Faster Motion Planning via Restarts
Nancy Amato, Stav Ashur, Sariel Har-Peled%
Randomized methods such as PRM and RRT are widely used in motion planning. However, in some cases, their running-time suffers from inherent instability, leading to ``catastrophic''…
Quickly Avoiding a Random Catastrophe
Stav Ashur, Sariel Har-Peled
We study the problem of constructing simulations of a given randomized search algorithm \texttt{alg} with expected running time , where $\mathcal{…
SPITE: Simple Polyhedral Intersection Techniques for modified Environments
Stav Ashur, Maria Lusardi, Marta Markowicz +4
Motion planning in modified environments is a challenging task, as it compounds the innate difficulty of the motion planning problem with a changing environment. This renders some…
A Framework for Guided Motion Planning
Amnon Attali, Stav Ashur, Isaac Burton Love +4
Randomized sampling based algorithms are widely used in robot motion planning due to the problem's intractability, and are experimentally effective on a wide range of problem insta…
On the Rectangles Induced by Points
Stav Ashur, Sariel Har-Peled
$ \newcommand{\Re}{\mathbb{R}} \newcommand{\reals}{\mathbb{R}} \newcommand{\SetX}{\mathsf{X}} \newcommand{\rad}{r} \newcommand{\Mh}[1]{#1} \newcommand{\query}{q} \newcommand{\eps}{…
Evaluating Guiding Spaces for Motion Planning
Amnon Attali, Stav Ashur, Isaac Burton Love +5
Randomized sampling based algorithms are widely used in robot motion planning due to the problem's intractability, and are experimentally effective on a wide range of problem insta…
Local Spanners Revisited
Stav Ashur, Sariel Har-Peled
For a set of points …
On Undecided LP, Clustering and Active Learning
Stav Ashur, Sariel Har-Peled
We study colored coverage and clustering problems. Here, we are given a colored point set where the points are covered by (unknown) clusters, which are monochromatic (i.e., all…
A 4-Approximation of the -MST
Stav Ashur, Matthew J. Katz
Bounded-angle (minimum) spanning trees were first introduced in the context of wireless networks with directional antennas. They are reminiscent of bounded-degree spanning trees, w…
A Constant-Factor Approximation Algorithm for Vertex Guarding a WV-Polygon
Stav Ashur, Omrit Filtser, Matthew J. Katz
The problem of vertex guarding a simple polygon was first studied by Subir K. Ghosh (1987), who presented a polynomial-time -approximation algorithm for placing as few g…