
On the Complexity of a Family of Decoupled MultiRobot Motion Planning Problems
In multirobot motion planning (MRMP) the aim is to plan the motion of s...
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Throwing a Sofa Through the Window
We study several variants of the problem of moving a convex polytope K, ...
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NearOptimal MultiRobot Motion Planning with Finite Sampling
An underlying structure in several samplingbased methods for continuous...
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On TwoHanded Planar Assembly Partitioning
Assembly planning, which is a fundamental problem in robotics and automa...
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Robust 2D Assembly Sequencing via Geometric Planning with Learned Scores
To compute robust 2D assembly plans, we present an approach that combine...
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SpaceAware Reconfiguration
We consider the problem of reconfiguring a set of physical objects into ...
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Geometric Sparsification of Closeness Relations: Eigenvalue Clustering for Computing Matrix Functions
We show how to efficiently solve a clustering problem that arises in a m...
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The MaximumLevel Vertex in an Arrangement of Lines
Let L be a set of n lines in the plane, not necessarily in general posit...
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Optimized Synthesis of Snapping Fixtures
This paper deals with the following separability problem in 3D space: Gi...
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RRT2.0 for Fast and Optimal Kinodynamic SamplingBased Motion Planning
We present RRT2.0: a simple yet efficient treebased planner for asympto...
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Sensory Regimes of Effective Distributed Searching without Leaders
Collective animal movement fascinates children and scientists alike. One...
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Maintaining the Union of Unit Discs under Insertions with NearOptimal Overhead
We present efficient data structures for problems on unit discs and arcs...
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dRRT*: Scalable and Informed AsymptoticallyOptimal MultiRobot Motion Planning
Many exciting robotic applications require multiple robots with many deg...
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Dynamic Maintenance of the Lower Envelope of PseudoLines
We present a fully dynamic data structure for the maintenance of lower e...
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Fast, HighQuality DualArm Rearrangement in Synchronous, Monotone Tabletop Setups
Rearranging objects on a planar surface arises in a variety of robotic a...
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Probabilistic completeness of RRT for geometric and kinodynamic planning with forward propagation
The Rapidlyexploring Random Tree (RRT) algorithm has been one of the mo...
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Motion Planning for Multiple UnitBall Robots in R^d
We present a decoupled algorithm for motion planning for a collection of...
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On the Separation of a Polyhedron from Its SinglePart Mold
Casting is a manufacturing process where liquid material is poured into ...
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Scalable AsymptoticallyOptimal MultiRobot Motion Planning
Finding asymptoticallyoptimal paths in multirobot motion planning prob...
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A Little More, a Lot Better: Improving Path Quality by a Simple Path Merging Algorithm
Samplingbased motion planners are an effective means for generating col...
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Dan Halperin
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