93 citations · 190 across the 37 of their papers we have counts for
6 papers · 1 filter
Sample Complexity of Probabilistic Roadmaps via -nets
Matthew Tsao, Kiril Solovey, Marco Pavone
We study fundamental theoretical aspects of probabilistic roadmaps (PRM) in the finite time (non-asymptotic) regime. In particular, we investigate how completeness and optimality g…
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…
Scalable and Congestion-aware Routing for Autonomous Mobility-on-Demand via Frank-Wolfe Optimization
Kiril Solovey, Mauro Salazar, Marco Pavone
We consider the problem of vehicle routing for Autonomous Mobility-on-Demand (AMoD) systems, wherein a fleet of self-driving vehicles provides on-demand mobility in a given environ…
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…