6 papers · 1 filter
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 precomputing motion primitives infeasible…
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…
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…
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…