28 citations · 143 across the 25 of their papers we have counts for
4 papers · 1 filter
Open problem on risk-aware planning in the plane
Oren Salzman, Siddhartha Srinivasa
We consider the problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear…
Densification Strategies for Anytime Motion Planning over Large Dense Roadmaps
Shushman Choudhury, Oren Salzman, Sanjiban Choudhury +1
We consider the problem of computing shortest paths in a dense motion-planning roadmap . We assume that~, the number of vertices of , is very large. Th…
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…
New perspective on sampling-based motion planning via random geometric graphs
Kiril Solovey, Oren Salzman, Dan Halperin
Roadmaps constructed by many sampling-based motion planners coincide, in the absence of obstacles, with standard models of random geometric graphs (RGGs). Those models have been st…