4 citations · 5 across the 11 of their papers we have counts for
13 papers
Divide and Collapse: MAPF-Collapse via Exact Decomposition into Independent Sub-Instances
Oren Salzman
In this work we study the problem of MAPFC, a post-optimization step for Multi-Agent Path Finding (MAPF) plans where we are given a feasible plan produced by a modern MAPF solver a…
Inspection-SPARS: Task-Oriented Sparse Roadmaps for Inspection Planning
Adir Morgan, Oren Salzman, Kiril Solovey
Inspection planning seeks a minimum-length collision-free robot tour that observes a given set of points of interest (POIs). Sampling-based methods reduce this continuous problem t…
Bidirectional Incremental Generalized Hybrid A*
Sidharth Talia, Oren Salzman, Siddhartha Srinivasa
We focus on the problem of efficient anytime kinodynamic planning for systems with complex dynamics in unstructured environments that make using precomputed motion primitives infea…
Scalable Inspection Planning via Flow-based Mixed Integer Linear Programming
Adir Morgan, Kiril Solovey, Oren Salzman
Inspection planning is concerned with computing the shortest robot path to inspect a given set of points of interest (POIs) using the robot's sensors. This problem arises in a wide…
Effective Game-Theoretic Motion Planning via Nested Search
Avishav Engle, Andrey Zhitnikov, Oren Salzman +2
To facilitate effective, safe deployment in the real world, individual robots must reason about interactions with other agents, which often occur without explicit communication. Re…
From Configuration-Space Clearance to Feature-Space Margin: Sample Complexity in Learning-Based Collision Detection
Sapir Tubul, Aviv Tamar, Kiril Solovey +1
Motion planning is a central challenge in robotics, with learning-based approaches gaining significant attention in recent years. Our work focuses on a specific aspect of these app…
Inspection planning under execution uncertainty
Shmuel David Alpert, Kiril Solovey, Itzik Klein +1
Autonomous inspection tasks necessitate path-planning algorithms to efficiently gather observations from points of interest (POI). However, localization errors commonly encountered…
Introducing Delays in Multi-Agent Path Finding
Justin Kottinger, Tzvika Geft, Shaull Almagor +2
We consider a Multi-Agent Path Finding (MAPF) setting where agents have been assigned a plan, but during its execution some agents are delayed. Instead of replanning from scratch w…
Terraforming -- Environment Manipulation during Disruptions for Multi-Agent Pickup and Delivery
David Vainshtein, Yaakov Sherma, Kiril Solovey +1
In automated warehouses, teams of mobile robots fulfill the packaging process by transferring inventory pods to designated workstations while navigating narrow aisles formed by tig…
Multi-Agent Terraforming: Efficient Multi-Agent Path Finding via Environment Manipulation
David Vainshtein, Kiril Solovey, Oren Salzman
Multi-agent pathfinding (MAPF) is concerned with planning collision-free paths for a team of agents from their start to goal locations in an environment cluttered with obstacles. T…
Leveraging Experience in Lifelong Multi-Agent Pathfinding
Nitzan Madar, Kiril Solovey, Oren Salzman
In Lifelong Multi-Agent Path Finding (L-MAPF) a team of agents performs a stream of tasks consisting of multiple locations to be visited by the agents on a shared graph while avoid…
Cooperative Multi-Agent Path Finding: Beyond Path Planning and Collision Avoidance
Nir Greshler, Ofir Gordon, Oren Salzman +1
We introduce the Cooperative Multi-Agent Path Finding (Co-MAPF) problem, an extension to the classical MAPF problem, where cooperative behavior is incorporated. In this setting, a…
Revisiting the Complexity Analysis of Conflict-Based Search: New Computational Techniques and Improved Bounds
Ofir Gordon, Yuval Filmus, Oren Salzman
The problem of Multi-Agent Path Finding (MAPF) calls for finding a set of conflict-free paths for a fleet of agents operating in a given environment. Arguably, the state-of-the-art…