21 citations · 41 across the 9 of their papers we have counts for
8 papers · 1 filter
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…
Near-Optimal Min-Sum Motion Planning for Two Square Robots in a Polygonal Environment
Pankaj K. Agarwal, Dan Halperin, Micha Sharir +1
Let be a planar polygonal environment (i.e., a polygon potentially with holes) with a total of vertices, and let be two robots, each mo…
Coordination of Multiple Robots along Given Paths with Bounded Junction Complexity
Mikkel Abrahamsen, Tzvika Geft, Dan Halperin +1
We study a fundamental NP-hard motion coordination problem for multi-robot/multi-agent systems: We are given a graph and set of agents, where each agent has a given directed pa…
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…
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…