93 citations · 190 across the 37 of their papers we have counts for
44 papers
Inspection-SPARS: Task-Oriented Sparse Roadmaps for Inspection Planning
Adir Morgan, Oren Salzman, Kiril Solovey
Inspection planning seeks a minimum-length collision-free robot tour that observes a given set of points of interest (POIs). Sampling-based methods reduce this continuous problem t…
Plan First, Diffuse Later: Extrinsic Graph Guidance for Long-Horizon Diffusion Planning
Yaniv Hassidof, Adir Morgan, Yilun Du +1
Compositional diffusion models offer a promising route to long-horizon planning by denoising multiple overlapping sub-trajectories while ensuring that together they constitute a gl…
Routing and Control for Marine Oil-Spill Cleanup with a Boom-Towing Vessel Fleet
Snir Carmeli, Adir Morgan, Kiril Solovey
Marine oil spills damage ecosystems, contaminate coastlines, and disrupt food webs, while imposing substantial economic losses on fisheries and coastal communities. Prior work has…
Bringing Network Coding into Multi-Robot Systems: Interplay Study for Autonomous Systems over Wireless Communications
Anil Zaher, Kiril Solovey, Alejandro Cohen
Communication is a core enabler for multi-robot systems (MRS), providing the mechanism through which robots exchange state information, coordinate actions, and satisfy safety const…
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…
Motion Planning for Safe Landing of a Human-Piloted Parafoil
Maximillian Fainkich, Kiril Solovey, Anna Clarke
Most skydiving accidents occur during the parafoil-piloting and landing stages and result from human lapses in judgment while piloting the parafoil. Training of novice pilots is pr…
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…
Train-Once Plan-Anywhere Kinodynamic Motion Planning via Diffusion Trees
Yaniv Hassidof, Tom Jurgenson, Kiril Solovey
Kinodynamic motion planning is concerned with computing collision-free trajectories while abiding by the robot's dynamic constraints. This critical problem is often tackled using s…
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…
Effective Sampling for Robot Motion Planning Through the Lens of Lattices
Itai Panasoff, Kiril Solovey
Sampling-based methods for motion planning, which capture the structure of the robot's free space via (typically random) sampling, have gained popularity due to their scalability,…
Impossibility of Self-Organized Aggregation without Computation
Roy Steinberg, Kiril Solovey
In their seminal work, Gauci et al. (2014) studied the fundamental task of aggregation, wherein multiple robots need to gather without an a priori agreed-upon meeting location, usi…
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…
Terraforming -- Environment Manipulation during Disruptions for Multi-Agent Pickup and Delivery
David Vainshtein, Yaakov Sherma, Kiril Solovey +1
In automated warehouses, teams of mobile robots fulfill the packaging process by transferring inventory pods to designated workstations while navigating narrow aisles formed by tig…
Robust-RRT: Probabilistically-Complete Motion Planning for Uncertain Nonlinear Systems
Albert Wu, Thomas Lew, Kiril Solovey +2
Robust motion planning entails computing a global motion plan that is safe under all possible uncertainty realizations, be it in the system dynamics, the robot's initial position,…
Leveraging Experience in Lifelong Multi-Agent Pathfinding
Nitzan Madar, Kiril Solovey, Oren Salzman
In Lifelong Multi-Agent Path Finding (L-MAPF) a team of agents performs a stream of tasks consisting of multiple locations to be visited by the agents on a shared graph while avoid…
Coordinated Multi-Agent Pathfinding for Drones and Trucks over Road Networks
Shushman Choudhury, Kiril Solovey, Mykel Kochenderfer +1
We address the problem of routing a team of drones and trucks over large-scale urban road networks. To conserve their limited flight energy, drones can use trucks as temporary mode…
Resolution-Optimal Motion Planning for Steerable Needles
Mengyu Fu, Kiril Solovey, Oren Salzman +1
Medical steerable needles can follow 3D curvilinear trajectories inside body tissue, enabling them to move around critical anatomical structures and precisely reach clinically sign…
When Efficiency meets Equity in Congestion Pricing and Revenue Refunding Schemes
Devansh Jalota, Kiril Solovey, Karthik Gopalakrishnan +3
Congestion pricing has long been hailed as a means to mitigate traffic congestion; however, its practical adoption has been limited due to the resulting social inequity issue, e.g.…
Balancing Fairness and Efficiency in Traffic Routing via Interpolated Traffic Assignment
Devansh Jalota, Kiril Solovey, Matthew Tsao +2
System optimum (SO) routing, wherein the total travel time of all users is minimized, is a holy grail for transportation authorities. However, SO routing may discriminate against u…
Near-Optimal Multi-Robot Motion Planning with Finite Sampling
Dror Dayan, Kiril Solovey, Marco Pavone +1
An underlying structure in several sampling-based methods for continuous multi-robot motion planning (MRMP) is the tensor roadmap (TR), which emerges from combining multiple PRM gr…
Fast Near-Optimal Heterogeneous Task Allocation via Flow Decomposition
Kiril Solovey, Saptarshi Bandyopadhyay, Federico Rossi +2
Multi-robot systems are uniquely well-suited to performing complex tasks such as patrolling and tracking, information gathering, and pick-up and delivery problems, offering signifi…
Complexity of Planning
Kiril Solovey
This is a chapter in the Encyclopedia of Robotics. It is devoted to the study of complexity of complete (or exact) algorithms for robot motion planning. The term ``complete'' indic…
On Local Computation for Optimization in Multi-Agent Systems
Robin Brown, Federico Rossi, Kiril Solovey +2
A number of prototypical optimization problems in multi-agent systems (e.g., task allocation and network load-sharing) exhibit a highly local structure: that is, each agent's decis…
Multi-Robot Path Planning Using Medial-Axis-Based Pebble-Graph Embedding
Liang He, Zherong Pan, Kiril Solovey +2
We present a centralized algorithm for labeled, disk-shaped Multi-Robot Path Planning (MPP) in a continuous planar workspace with polygonal boundaries. Our method automatically tra…