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cs.RO2025
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…
cs.RO2025
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''…
cs.DS2025
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{…