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Kiril Solovey

I am a Postdoctoral Scholar at the Autonomous Systems Lab, Department of Aeronautics & Astronautics, Stanford University, hosted by Prof. Marco Pavone. My research focuses on algorithmic aspects of robotics. I am particularly interested in the design and analysis of techniques for robot motion planning, multi-robot systems, and autonomous mobility on demand (AMoD). I am supported by the Fulbright Scholars Program.

Prior to Stanford, I was a Ph.D. student at Tel Aviv University working with Prof. Dan Halperin in the Computational Geometry Lab. I was supported by the Clore Israel Foundation.

In addition to my academic interests, I take pleasure in being outdoors (mountain biking and hiking), travelling around the world, and enjoy food, music and books.

kirilsol@stanford.edu | curriculum vitæ

Publications

Work in progress

Journals

  1. Michal Kleinbort and Kiril Solovey, Zakary Littlefield, Kostas Bekris, and Dan Halperin, “Probabilistic completeness of RRT for geometric and kinodynamic planning with forward propagation.” IEEE Robotics and Automation Letters, 2018, to appear.
  2. Rahul Shome, Kiril Solovey, Andrew Dobson,, Dan Halperin and Kostas E. Bekris, “dRRT*: Scalable and Informed Asymptotically-Optimal Multi-Robot Motion Planning”, Autonomous Robots , special issue (invited), 2018, to appear.
  3. Aviel Atias, Kiril Solovey, and Dan Halperin, “Effective Metrics for Multi-Robot Motion-Planning”, International Journal on Robotics Research , special issue (invited), 2018.
  4. Kiril Solovey, Oren Salzman and Dan Halperin, “New Perspective on Sampling-Based Motion Planning via Random Geometric Graphs”, International Journal on Robotics Research , special issue (invited), 2018.
  5. Kiril Solovey and Dan Halperin, “On the Hardness of Unlabeled Multi-Robot Motion Planning”, International Journal on Robotics Research, special issue (invited), 2016.
  6. Oren Salzman, Kiril Solovey and Dan Halperin, “Motion Planning for Multi-Link Robots by Implicit Configuration-Space Tiling”, IEEE Robotics and Automation Letters, 2016.
  7. Kiril Solovey*, Oren Salzman* and Dan Halperin (*equal contribution), “Finding a Needle in an Exponential Haystack: Discrete RRT for Exploration of Implicit Roadmaps in Multi-Robot Motion Planning”, International Journal on Robotics Research , special issue (invited), 2016.
  8. Aviv Adler, Mark de Berg, Dan Halperin and Kiril Solovey (alphabetical order), “Efficient Multi-Robot Motion Planning for Unlabeled Discs in Simple Polygons”, Transactions on Automation Science and Engineering, special issue (invited), 2015.
  9. Kiril Solovey and Dan Halperin, “k-Color Multi-Robot Motion Planning”, International Journal on Robotics Research, special issue (invited), 2014.

Peer-reviewed conference proceedings

  1. Rahul Shome, Kiril Solovey, Jingjin Yu, Dan Halperin and Kostas Bekris, “Fast, High-Quality Dual-Arm Rearrangement in Synchronous, Monotone Tabletop Setups.” In Workshop on the Algorithmic Foundations of Robotics, 2018.
  2. Kiril Solovey and Michal Kleinbort, “The Critical Radius in Sampling-Based Motion Planning”, in Robotics: Science and Systems, 2018.
  3. Andrew Dobson, Kiril Solovey, Rahul Shome, Dan Halperin and Kostas E. Bekris, “Scalable Asymptotically-Optimal Multi-Robot Motion Planning”, in International Symposium on Multi-Robot and Multi-Agent Systems, best paper, 2017.
  4. Kiril Solovey and Dan Halperin, “Efficient Sampling-Based Bottleneck Pathfinding over Cost Maps”, in International Conference on Intelligent Robots and Systems, 2017.
  5. Aviel Atias, Kiril Solovey, and Dan Halperin, “Effective Metrics for Multi-Robot Motion-Planning”, in Robootics: Science and Systems, 2017.
  6. Kiril Solovey and Dan Halperin, “Asymptotically-Optimal Bottleneck Pathfinding with Applications to Fr├ęchet Matching”, in European Symposium on Algorithms, 2016.
  7. Kiril Solovey, Oren Salzman and Dan Halperin, “New Perspective on Sampling-Based Motion Planning via Random Geometric Graphs”, in Robotics: Science and Systems, 2016. See related talk in the Workshop on Random Geometric Graphs, Banff International Research Center, [video].
  8. Kiril Solovey and Dan Halperin, “On the Hardness of Unlabeled Multi-Robot Motion Planning”, in Robotics: Science and Systems, finalist for best paper, winner of best student paper, 2015.
  9. Kiril Solovey, Jingjin Yu, Or Zamir and Dan Halperin, “Motion Planning for Unlabeled Discs with Optimality Guarantees”, in Robotics: Science and Systems, 2015.
  10. Kiril Solovey*, Oren Salzman* and Dan Halperin (*equal contribution), “Finding a Needle in an Exponential Haystack: Discrete RRT for Exploration of Implicit Roadmaps in Multi-Robot Motion Planning”, in Workshop on the Algorithmic Foundations of Robotics, 2014.
  11. Aviv Adler, Mark de Berg, Dan Halperin and Kiril Solovey (alphabetical order), “Efficient Multi-Robot Motion Planning for Unlabeled Discs in Simple Polygons”, in Workshop on the Algorithmic Foundations of Robotics, 2014.
  12. Kiril Solovey and Dan Halperin, “k-Color Multi-Robot Motion Planning”, in Workshop on the Algorithmic Foundations of Robotics, 2012.

Book chapters

Dissertations

Also see my dblp and google scholar entries. All preprints can be found on arXiv. Feel free to contact me if you need the latest version.