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03/01/2023
Coordination of Multiple Robots along Given Paths with Bounded Junction Complexity
We study a fundamental NP-hard motion coordination problem for multi-rob...
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09/30/2022
Multi-Robot Motion Planning for Unit Discs with Revolving Areas
We study the problem of motion planning for a collection of n labeled un...
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09/11/2022
Localization with Few Distance Measurements
Given a polygon W, a depth sensor placed at point p=(x,y) inside W and o...
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05/16/2022
Unlabeled Multi-Robot Motion Planning with Tighter Separation Bounds
We consider the unlabeled motion-planning problem of m unit-disc robots ...
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03/14/2022
Refined Hardness of Distance-Optimal Multi-Agent Path Finding
We study the computational complexity of multi-agent path finding (MAPF)...
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02/28/2022
CGAL Made More Accessible
We introduce bindings that enable the convenient, efficient, and reliabl...
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04/14/2021
On the Complexity of a Family of Decoupled Multi-Robot Motion Planning Problems
In multi-robot motion planning (MRMP) the aim is to plan the motion of s...
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02/08/2021
Throwing a Sofa Through the Window
We study several variants of the problem of moving a convex polytope K, ...
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11/17/2020
Near-Optimal Multi-Robot Motion Planning with Finite Sampling
An underlying structure in several sampling-based methods for continuous...
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09/25/2020
On Two-Handed Planar Assembly Partitioning
Assembly planning, which is a fundamental problem in robotics and automa...
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09/20/2020
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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06/08/2020
Space-Aware Reconfiguration
We consider the problem of reconfiguring a set of physical objects into ...
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03/23/2020
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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03/01/2020
The Maximum-Level 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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09/12/2019
Optimized Synthesis of Snapping Fixtures
This paper deals with the following separability problem in 3D space: Gi...
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09/12/2019
RRT2.0 for Fast and Optimal Kinodynamic Sampling-Based Motion Planning
We present RRT2.0: a simple yet efficient tree-based planner for asympto...
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04/05/2019
Sensory Regimes of Effective Distributed Searching without Leaders
Collective animal movement fascinates children and scientists alike. One...
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03/20/2019
Maintaining the Union of Unit Discs under Insertions with Near-Optimal Overhead
We present efficient data structures for problems on unit discs and arcs...
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03/03/2019
dRRT*: Scalable and Informed Asymptotically-Optimal Multi-Robot Motion Planning
Many exciting robotic applications require multiple robots with many deg...
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02/25/2019
Dynamic Maintenance of the Lower Envelope of Pseudo-Lines
We present a fully dynamic data structure for the maintenance of lower e...
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10/29/2018
Fast, High-Quality Dual-Arm Rearrangement in Synchronous, Monotone Tabletop Setups
Rearranging objects on a planar surface arises in a variety of robotic a...
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09/19/2018
Probabilistic completeness of RRT for geometric and kinodynamic planning with forward propagation
The Rapidly-exploring Random Tree (RRT) algorithm has been one of the mo...
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07/14/2018
Motion Planning for Multiple Unit-Ball Robots in R^d
We present a decoupled algorithm for motion planning for a collection of...
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08/14/2017
On the Separation of a Polyhedron from Its Single-Part Mold
Casting is a manufacturing process where liquid material is poured into ...
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06/29/2017
Scalable Asymptotically-Optimal Multi-Robot Motion Planning
Finding asymptotically-optimal paths in multi-robot motion planning prob...
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01/14/2010