21 citations · 38 across the 7 of their papers we have counts for
7 papers
Efficient sampling-based bottleneck pathfinding over cost maps
Kiril Solovey, Dan Halperin
We introduce a simple yet effective sampling-based planner that is tailored for bottleneck pathfinding: Given an implicitly-defined cost map $\mathcal{M}:\mathbb{R}^d\rightarrow \m…
Collision detection or nearest-neighbor search? On the computational bottleneck in sampling-based motion planning
Michal Kleinbort, Oren Salzman, Dan Halperin
The complexity of nearest-neighbor search dominates the asymptotic running time of many sampling-based motion-planning algorithms. However, collision detection is often considered…
Optimal randomized incremental construction for guaranteed logarithmic planar point location
Michael Hemmer, Michal Kleinbort, Dan Halperin
Given a planar map of segments in which we wish to efficiently locate points, we present the first randomized incremental construction of the well-known trapezoidal-map search-…
Efficient high-quality motion planning by fast all-pairs r-nearest-neighbors
Michal Kleinbort, Oren Salzman, Dan Halperin
Sampling-based motion-planning algorithms typically rely on nearest-neighbor (NN) queries when constructing a roadmap. Recent results suggest that in various settings NN queries ma…
On the hardness of unlabeled multi-robot motion planning
Kiril Solovey, Dan Halperin
In unlabeled multi-robot motion planning several interchangeable robots operate in a common workspace. The goal is to move the robots to a set of target positions such that each po…
The Offset Filtration of Convex Objects
Dan Halperin, Michael Kerber, Doron Shaharabani
We consider offsets of a union of convex objects. We aim for a filtration, a sequence of nested cell complexes, that captures the topological evolution of the offsets for increasin…