23 citations · 24 across the 3 of their papers we have counts for
6 papers
Scalable Asymptotically-Optimal Multi-Robot Motion Planning
Andrew Dobson, Kiril Solovey, Rahul Shome +2
Finding asymptotically-optimal paths in multi-robot motion planning problems could be achieved, in principle, using sampling-based planners in the composite configuration space of…
Effective Metrics for Multi-Robot Motion-Planning
Aviel Atias, Kiril Solovey, Oren Salzman +1
We study the effectiveness of metrics for Multi-Robot Motion-Planning (MRMP) when using RRT-style sampling-based planners. These metrics play the crucial role of determining the ne…
Sampling-based bottleneck pathfinding with applications to Frechet matching
Kiril Solovey, Dan Halperin
We describe a general probabilistic framework to address a variety of Frechet-distance optimization problems. Specifically, we are interested in finding minimal bottleneck-paths in…
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…
Motion Planning for Unlabeled Discs with Optimality Guarantees
Kiril Solovey, Jingjin Yu, Or Zamir +1
We study the problem of path planning for unlabeled (indistinguishable) unit-disc robots in a planar environment cluttered with polygonal obstacles. We introduce an algorithm which…
Sparsification of Motion-Planning Roadmaps by Edge Contraction
Doron Shaharabani, Oren Salzman, Pankaj K. Agarwal +1
We present Roadmap Sparsification by Edge Contraction (RSEC), a simple and effective algorithm for reducing the size of a motion-planning roadmap. The algorithm exhibits minimal ef…