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Unlabeled Multi-Robot Motion Planning with Tighter Separation Bounds


May 16, 2022
Bahareh Banyassady, Mark de Berg, Karl Bringmann, Kevin Buchin, Henning Fernau, Dan Halperin, Irina Kostitsyna, Yoshio Okamoto, Stijn Slot

* A shorter version of this paper appeared in the Proceedings of the 38th International Symposium on Computational Geometry (SoCG 2022) 

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Refined Hardness of Distance-Optimal Multi-Agent Path Finding


Mar 14, 2022
Tzvika Geft, Dan Halperin

* Accepted to Autonomous Agents and Multi-Agent Systems (AAMAS 2022) 

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On the Complexity of a Family of Decoupled Multi-Robot Motion Planning Problems


Apr 14, 2021
Tzvika Geft, Dan Halperin


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Near-Optimal Multi-Robot Motion Planning with Finite Sampling


Nov 17, 2020
Dror Dayan, Kiril Solovey, Marco Pavone, Dan Halperin

* Submitted to the International Conference on Robotics and Automation (ICRA), 2021 

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On Two-Handed Planar Assembly Partitioning


Sep 25, 2020
Pankaj K. Agarwal, Boris Aronov, Tzvika Geft, Dan Halperin


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Robust 2D Assembly Sequencing via Geometric Planning with Learned Scores


Sep 20, 2020
Tzvika Geft, Aviv Tamar, Ken Goldberg, Dan Halperin

* Presented at the 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE) 

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RRT2.0 for Fast and Optimal Kinodynamic Sampling-Based Motion Planning


Sep 13, 2019
Michal Kleinbort, Kiril Solovey, Riccardo Bonalli, Kostas E. Bekris, Dan Halperin


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Optimized Synthesis of Snapping Fixtures


Sep 12, 2019
Tom Tsabar, Efi Fogel, Dan Halperin


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dRRT*: Scalable and Informed Asymptotically-Optimal Multi-Robot Motion Planning


Mar 03, 2019
Rahul Shome, Kiril Solovey, Andrew Dobson, Dan Halperin, Kostas E. Bekris

* Autonomous Robots, January 2019 

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Fast, High-Quality Dual-Arm Rearrangement in Synchronous, Monotone Tabletop Setups


Oct 29, 2018
Rahul Shome, Kiril Solovey, Jingjin Yu, Kostas Bekris, Dan Halperin

* Extended version of a submission at The 13th International Workshop on the Algorithmic Foundations of Robotics, 2018 

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Probabilistic completeness of RRT for geometric and kinodynamic planning with forward propagation


Sep 19, 2018
Michal Kleinbort, Kiril Solovey, Zakary Littlefield, Kostas E. Bekris, Dan Halperin


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Motion Planning for Multiple Unit-Ball Robots in $\mathbb{R}^d$


Jul 14, 2018
Israela Solomon, Dan Halperin


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Effective Metrics for Multi-Robot Motion-Planning


Dec 15, 2017
Aviel Atias, Kiril Solovey, Oren Salzman, Dan Halperin

* Extended version for the Robotics: Science and Systems conference, 2017 

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Scalable Asymptotically-Optimal Multi-Robot Motion Planning


Jul 03, 2017
Andrew Dobson, Kiril Solovey, Rahul Shome, Dan Halperin, Kostas E. Bekris

* 8 pages, 12 figures, submitted to the first International Symposium on Multi-Robot and Multi-Agent Systems (MRS) 

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Collision detection or nearest-neighbor search? On the computational bottleneck in sampling-based motion planning


Oct 30, 2016
Michal Kleinbort, Oren Salzman, Dan Halperin


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Efficient sampling-based bottleneck pathfinding over cost maps


Sep 27, 2016
Kiril Solovey, Dan Halperin


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Sampling-based bottleneck pathfinding with applications to Frechet matching


Jul 10, 2016
Kiril Solovey, Dan Halperin


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New perspective on sampling-based motion planning via random geometric graphs


Feb 17, 2016
Kiril Solovey, Oren Salzman, Dan Halperin


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Motion Planning for Multi-Link Robots by Implicit Configuration-Space Tiling


Nov 25, 2015
Oren Salzman, Kiril Solovey, Dan Halperin


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Motion Planning for Unlabeled Discs with Optimality Guarantees


Apr 20, 2015
Kiril Solovey, Jingjin Yu, Or Zamir, Dan Halperin


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On the hardness of unlabeled multi-robot motion planning


Apr 20, 2015
Kiril Solovey, Dan Halperin


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Asymptotically near-optimal RRT for fast, high-quality, motion planning


Mar 04, 2015
Oren Salzman, Dan Halperin


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Efficient Multi-Robot Motion Planning for Unlabeled Discs in Simple Polygons


Jan 26, 2015
Aviv Adler, Mark de Berg, Dan Halperin, Kiril Solovey


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Asymptotically-Optimal Motion Planning using Lower Bounds on Cost


Sep 30, 2014
Oren Salzman, Dan Halperin


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Efficient high-quality motion planning by fast all-pairs r-nearest-neighbors


Sep 29, 2014
Michal Kleinbort, Oren Salzman, Dan Halperin


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On the Power of Manifold Samples in Exploring Configuration Spaces and the Dimensionality of Narrow Passages


May 07, 2014
Oren Salzman, Michael Hemmer, Dan Halperin

* 20 pages 

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Finding a needle in an exponential haystack: Discrete RRT for exploration of implicit roadmaps in multi-robot motion planning


Mar 30, 2014
Kiril Solovey, Oren Salzman, Dan Halperin

* Kiril Solovey and Oren Salzman contributed equally to this paper 

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k-Color Multi-Robot Motion Planning


May 13, 2013
Kiril Solovey, Dan Halperin

* 23 

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Sparsification of Motion-Planning Roadmaps by Edge Contraction


Sep 20, 2012
Doron Shaharabani, Oren Salzman, Pankaj K. Agarwal, Dan Halperin


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Motion Planning via Manifold Samples


Jul 05, 2011
Oren Salzman, Michael Hemmer, Barak Raveh, Dan Halperin

* 18 pages 

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