b'Oren Salzman'

research

∙ 09/12/2023

Inspection planning under execution uncertainty

Autonomous inspection tasks necessitate effective path-planning mechanis...

0 Shmuel David Alpert, et al. ∙

research

∙ 07/20/2023

Introducing Delays in Multi-Agent Path Finding

We consider a Multi-Agent Path Finding (MAPF) setting where agents have ...

0 Justin Kottinger, et al. ∙

research

∙ 05/19/2023

Terraforming – Environment Manipulation during Disruptions for Multi-Agent Pickup and Delivery

In automated warehouses, teams of mobile robots fulfill the packaging pr...

0 David Vainshtein, et al. ∙

research

∙ 11/06/2022

Wall Street Tree Search: Risk-Aware Planning for Offline Reinforcement Learning

Offline reinforcement-learning (RL) algorithms learn to make decisions u...

0 Dan Elbaz, et al. ∙

research

∙ 04/04/2022

T*ε – Bounded-Suboptimal Efficient Motion Planning for Minimum-Time Planar Curvature-Constrained Systems

We consider the problem of finding collision-free paths for curvature-co...

0 Doron Pinsky, et al. ∙

research

∙ 03/20/2022

Multi-Agent Terraforming: Efficient Multi-Agent Path Finding via Environment Manipulation

Multi-agent pathfinding (MAPF) is concerned with planning collision-free...

7 David Vainshtein, et al. ∙

research

∙ 02/10/2022

Towards Predicting Fine Finger Motions from Ultrasound Images via Kinematic Representation

A central challenge in building robotic prostheses is the creation of a ...

0 Dean Zadok, et al. ∙

research

∙ 02/09/2022

Leveraging Experience in Lifelong Multi-Agent Pathfinding

In Lifelong Multi-Agent Path Finding (L-MAPF) a team of agents performs ...

13 Nitzan Madar, et al. ∙

research

∙ 10/06/2021

Resolution-Optimal Motion Planning for Steerable Needles

Medical steerable needles can follow 3D curvilinear trajectories inside ...

0 Mengyu Fu, et al. ∙

research

∙ 07/11/2021

Toward Certifiable Motion Planning for Medical Steerable Needles

Medical steerable needles can move along 3D curvilinear trajectories to ...

0 Mengyu Fu, et al. ∙

research

∙ 05/23/2021

Cooperative Multi-Agent Path Finding: Beyond Path Planning and Collision Avoidance

We introduce the Cooperative Multi-Agent Path Finding (Co-MAPF) problem,...

0 Nir Greshler, et al. ∙

research

∙ 04/18/2021

Revisiting the Complexity Analysis of Conflict-Based Search: New Computational Techniques and Improved Bounds

The problem of Multi-Agent Path Finding (MAPF) calls for finding a set o...

0 Ofir Gordon, et al. ∙

research

∙ 03/25/2021

Computationally-Efficient Roadmap-based Inspection Planning via Incremental Lazy Search

The inspection-planning problem calls for computing motions for a robot ...

0 Mengyu Fu, et al. ∙

research

∙ 01/15/2021

Provably Constant-time Planning and Replanning for Real-time Grasping Objects off a Conveyor Belt

In warehouse and manufacturing environments, manipulation platforms are ...

0 Fahad Islam, et al. ∙

research

∙ 01/06/2021

A Novel Shaft-to-Tissue Force Model for Safer Motion Planning of Steerable Needles

Steerable needles are capable of accurately targeting difficult-to-reach...

0 Michael Bentley, et al. ∙

research

∙ 06/18/2020

Approximate bi-criteria search by efficient representation of subsets of the Pareto-optimal frontier

We consider the bi-criteria shortest-path problem where we want to compu...

0 Oren Salzman, et al. ∙

research

∙ 03/19/2020

Provably Constant-Time Planning and Re-planning for Real-time Grasping Objects off a Conveyor

In warehousing and manufacturing environments, manipulation platforms ar...

0 Fahad Islam, et al. ∙

research

∙ 10/27/2019

Task-Informed Fidelity Management for Speeding Up Robotics Simulation

Simulators are an important tool in robotics that is used to develop rob...

0 Abhijeet Tallavajhula, et al. ∙

research

∙ 10/21/2019

Planning, Learning and Reasoning Framework for Robot Truck Unloading

We consider the task of autonomously unloading boxes from trucks using a...

0 Fahad Islam, et al. ∙

research

∙ 08/25/2019

A Planning Framework for Persistent, Multi-UAV Coverage with Global Deconfliction

Planning for multi-robot coverage seeks to determine collision-free path...

0 Tushar Kusnur, et al. ∙

research

∙ 07/01/2019

Toward Asymptotically-Optimal Inspection Planning via Efficient Near-Optimal Graph Search

Inspection planning, the task of planning motions that allow a robot to ...

0 Mengyu Fu, et al. ∙

research

∙ 04/04/2019

Generalized Lazy Search for Robot Motion Planning: Interleaving Search and Edge Evaluation via Event-based Toggles

Lazy search algorithms can efficiently solve problems where edge evaluat...

0 Aditya Mandalika, et al. ∙

research

∙ 01/23/2019

Provable Infinite-Horizon Real-Time Planning for Repetitive Tasks

In manufacturing and automation settings, robots often have to perform h...

0 Fahad Islam, et al. ∙

research

∙ 03/13/2018

Lazy Receding Horizon A* for Efficient Path Planning in Graphs with Expensive-to-Evaluate Edges

Motion-planning problems, such as manipulation in cluttered environments...

0 Aditya Mandalika, et al. ∙

research

∙ 12/02/2017

Effective Footstep Planning for Humanoids Using Homotopy-Class Guidance

Planning the motion for humanoid robots is a computationally-complex tas...

0 Vinitha Ranganeni, et al. ∙

research

∙ 11/10/2017

Anytime Motion Planning on Large Dense Roadmaps with Expensive Edge Evaluations

We propose an algorithmic framework for efficient anytime motion plannin...

0 Shushman Choudhury, et al. ∙

research

∙ 10/18/2017

Minimizing Task Space Frechet Error via Efficient Incremental Graph Search

We present an algorithm that generates a collision-free configuration-sp...

0 Rachel Holladay, et al. ∙

research

∙ 10/17/2017

Generalizing Informed Sampling for Asymptotically Optimal Sampling-based Kinodynamic Planning via Markov Chain Monte Carlo

Asymptotically-optimal motion planners such as RRT* have been shown to i...

0 Daqing Yi, et al. ∙

research

∙ 10/11/2017

The Provable Virtue of Laziness in Motion Planning

The Lazy Shortest Path (LazySP) class consists of motion-planning algori...

0 Nika Haghtalab, et al. ∙

research

∙ 10/11/2017

Online, interactive user guidance for high-dimensional, constrained motion planning

We consider the problem of planning a collision-free path for a high-dim...

0 Fahad Islam, et al. ∙

research

∙ 06/09/2017

An Efficient Algorithm for Computing High-Quality Paths amid Polygonal Obstacles

We study a path-planning problem amid a set O of obstacles in R^2, in wh...

0 Pankaj K. Agarwal, et al. ∙

Oren Salzman

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