5 papers
Manifold-Guided Motion Planning for Tight Assemblies
Dror Livnat, Michael M. Bilevich, Michal Kleinbort +1
Motion planning for rigid-body assembly poses a fundamental challenge in robotics due to tight geometric constraints. In such scenarios, feasible motions often require passing thro…
Leveraging Two Robotic Arms for Tight Assembly Performance Gains
Dror Livnat, Yuval Lavi, Michael M. Bilevich +1
We provide a novel end-to-end framework for the execution of an assembly operation by two robotic arms, given the digital CAD models of the parts and their desired relative placeme…
Lifelong Localization in Dynamic Indoor Environments Combining Odometry with Sparse Distance Sampling
Michael M. Bilevich, Tomer Buber, Dan Halperin
Localization is a key task in robot navigation, and many techniques exist for it. In many plausible scenarios, a robot might face unforeseen, dynamic obstacles, rendering any pre-d…
A Note on the Time Complexity of Using Subdivision Methods for the Approximation of Fibers
Michael M. Bilevich, Dan Halperin
Subdivision methods such as quadtrees, octrees, and higher-dimensional orthrees are standard practice in different domains of computer science. We can use these methods to represen…
Localization in Dynamic Planar Environments Using Few Distance Measurements
Michael M. Bilevich, Shahar Guini, Dan Halperin
We present a method for determining the unknown location of a sensor placed in a known 2D environment in the presence of unknown dynamic obstacles, using only few distance measurem…