5 papers
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…
Plan First, Diffuse Later: Extrinsic Graph Guidance for Long-Horizon Diffusion Planning
Yaniv Hassidof, Adir Morgan, Yilun Du +1
Compositional diffusion models offer a promising route to long-horizon planning by denoising multiple overlapping sub-trajectories while ensuring that together they constitute a gl…
Routing and Control for Marine Oil-Spill Cleanup with a Boom-Towing Vessel Fleet
Snir Carmeli, Adir Morgan, Kiril Solovey
Marine oil spills damage ecosystems, contaminate coastlines, and disrupt food webs, while imposing substantial economic losses on fisheries and coastal communities. Prior work has…
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…
Algorithms for the Minimum Dominating Set Problem in Bounded Arboricity Graphs: Simpler, Faster, and Combinatorial
Adir Morgan, Shay Solomon, Nicole Wein
We revisit the minimum dominating set problem on graphs with arboricity bounded by . Bansal and Umboh [BU17] gave an -approximation LP rounding algorithm, which also trans…