93 citations · 190 across the 37 of their papers we have counts for
32 papers · 1 filter
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…
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…
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,…
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…
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…
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…
Efficient Large-Scale Multi-Drone Delivery Using Transit Networks
Shushman Choudhury, Kiril Solovey, Mykel J. Kochenderfer +1
We consider the problem of controlling a large fleet of drones to deliver packages simultaneously across broad urban areas. To conserve energy, drones hop between public transit ve…
Revisiting the Asymptotic Optimality of RRT
Kiril Solovey, Lucas Janson, Edward Schmerling +2
RRT* is one of the most widely used sampling-based algorithms for asymptotically-optimal motion planning. This algorithm laid the foundations for optimality in motion planning as a…
Refined Analysis of Asymptotically-Optimal Kinodynamic Planning in the State-Cost Space
Michal Kleinbort, Edgar Granados, Kiril Solovey +3
We present a novel analysis of AO-RRT: a tree-based planner for motion planning with kinodynamic constraints, originally described by Hauser and Zhou (AO-X, 2016). AO-RRT explores…
dRRT*: Scalable and Informed Asymptotically-Optimal Multi-Robot Motion Planning
Rahul Shome, Kiril Solovey, Andrew Dobson +2
Many exciting robotic applications require multiple robots with many degrees of freedom, such as manipulators, to coordinate their motion in a shared workspace. Discovering high-qu…
Fast, High-Quality Dual-Arm Rearrangement in Synchronous, Monotone Tabletop Setups
Rahul Shome, Kiril Solovey, Jingjin Yu +2
Rearranging objects on a planar surface arises in a variety of robotic applications, such as product packaging. Using two arms can improve efficiency but introduces new computation…
Probabilistic completeness of RRT for geometric and kinodynamic planning with forward propagation
Michal Kleinbort, Kiril Solovey, Zakary Littlefield +2
The Rapidly-exploring Random Tree (RRT) algorithm has been one of the most prevalent and popular motion-planning techniques for two decades now. Surprisingly, in spite of its centr…