publications

Publications with awards marked with ":trophy:". Generated by jekyll-scholar.

2022

  1. ISRR
    Albert Wu, Thomas Lew,  Kiril Solovey, Edward Schmerling, and Marco Pavone:
    Robust-RRT: Probabilistically-Complete Motion Planning for Uncertain Nonlinear Systems.
    In International Foundation of Robotics Research (2022).
  2. IROS
    Liang He, Zherong Pan,  Kiril Solovey, Biao Jia, and Dinesh Manocha:
    Multi-Robot Path Planning Using Medial-Axis-Based Pebble-Graph Embedding.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (2022).
  3. arXiv
    David Vainshtein,  Kiril Solovey, and Oren Salzman:
    Multi-Agent Terraforming: Efficient Multi-Agent Path Finding via Environment Manipulation.
    CoRR (2022).
  4. SoCS
    Nitzan Madar,  Kiril Solovey, and Oren Salzman:
    Leveraging Experience in Lifelong Multi-Agent Pathfinding.
    In International Symposium on Combinatorial Search (2022).
  5. ICRA
    Mengyu Fu,  Kiril Solovey, Oren Salzman, and Ron Alterovitz:
    Resolution-Optimal Motion Planning for Steerable Needles.
    In IEEE International Conference on Robotics and Automation (2022).
  6. AAMAS
    Shushman Choudhury,  Kiril Solovey, Mykel J. Kochenderfer, and Marco Pavone:
    Coordinated Multi-Agent Pathfinding for Drones and Trucks over Road Networks.
    In Autonomous Agents and Multiagent Systems (2022).
  7. AAMAS
    Devansh Jalota,  Kiril Solovey, Matthew Tsao, Stephen Zoepf, and Marco Pavone:
    Balancing Fairness and Efficiency in Traffic Routing via Interpolated Traffic Assignment.
    In Autonomous Agents and Multiagent Systems (2022).

2021

  1. JAIR
    Shushman Choudhury,  Kiril Solovey, Mykel J. Kochenderfer, and Marco Pavone:
    Efficient Large-Scale Multi-Drone Delivery using Transit Networks.
    Journal of Artificial Intelligence Research (2021).
  2. T-ASE
    Rahul Shome,  Kiril Solovey, Jingjin Yu, Kostas E. Bekris, and Dan Halperin:
    Fast, High-Quality Two-Arm Rearrangement in Synchronous, Monotone Tabletop Setups.
    IEEE Transactions on Automation Science and Engineering (2021).
  3. TCNS
    Robin Brown, Federico Rossi,  Kiril Solovey, Matthew Tsao, Michael T. Wolf, and Marco Pavone:
    On Local Computation for Network-Structured Convex Optimization in Multiagent Systems.
    IEEE Transactions on Control of Network Systems (2021).
  4. EAAMO
    Devansh Jalota,  Kiril Solovey, Karthik Gopalakrishnan, Stephen Zoepf, Hamsa Balakrishnan, and Marco Pavone:
    When Efficiency meets Equity in Congestion Pricing and Revenue Refunding Schemes.
    In Conference on Equity and Access in Algorithms, Mechanisms, and Optimization (2021).
  5. ICRA
    Kiril Solovey, Saptarshi Bandyopadhyay, Federico Rossi, Michael T. Wolf, and Marco Pavone:
    Fast Near-Optimal Heterogeneous Task Allocation via Flow Decomposition.
    In IEEE International Conference on Robotics and Automation (2021).
  6. ICRA
    Dror Dayan,  Kiril Solovey, Marco Pavone, and Dan Halperin:
    Near-Optimal Multi-Robot Motion Planning with Finite Sampling.
    In IEEE International Conference on Robotics and Automation (2021).

2020

  1. AR
    Rahul Shome,  Kiril Solovey, Andrew Dobson, Dan Halperin, and Kostas E. Bekris:
    dRRT*: Scalable and informed asymptotically-optimal multi-robot motion planning.
    Autonomous Robots (2020).
  2. IJRR
    Kiril Solovey, and Michal Kleinbort:
    The critical radius in sampling-based motion planning.
    International Journal of Robotics Research (2020).
  3. ECC :trophy:
    Robin Brown, Federico Rossi,  Kiril Solovey, Michael T. Wolf, and Marco Pavone:
    Exploiting Locality and Structure for Distributed Optimization in Multi-Agent Systems.
    Best students paper award (finalist), In European Control Conference (2020).
  4. ICRA
    Kiril Solovey, Lucas Janson, Edward Schmerling, Emilio Frazzoli, and Marco Pavone:
    Revisiting the Asymptotic Optimality of RRT*.
    In IEEE International Conference on Robotics and Automation (2020).
  5. ICRA
    Matthew Tsao,  Kiril Solovey, and Marco Pavone:
    Sample Complexity of Probabilistic Roadmaps via \(ε\)-nets.
    In IEEE International Conference on Robotics and Automation (2020).
  6. ICRA :trophy:
    Shushman Choudhury,  Kiril Solovey, Mykel J. Kochenderfer, and Marco Pavone:
    Efficient Large-Scale Multi-Drone Delivery Using Transit Networks.
    Best multi-robot systems paper award (finalist), In IEEE International Conference on Robotics and Automation (2020).
  7. ICRA
    Michal Kleinbort, Edgar Granados,  Kiril Solovey, Riccardo Bonalli, Kostas E. Bekris, and Dan Halperin:
    Refined Analysis of Asymptotically-Optimal Kinodynamic Planning in the State-Cost Space.
    In IEEE International Conference on Robotics and Automation (2020).
  8. Book Ch.
    Kiril Solovey:
    Complexity of Planning.
    Encyclopedia of Robotics (2020).

2019

  1. RA-L
    Michal Kleinbort,  Kiril Solovey, Zakary Littlefield, Kostas E. Bekris, and Dan Halperin:
    Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning With Forward Propagation.
    IEEE Robotics and Automation Letters (2019).
  2. RSS
    Kiril Solovey, Mauro Salazar, and Marco Pavone:
    Scalable and Congestion-Aware Routing for Autonomous Mobility-On-Demand Via Frank-Wolfe Optimization.
    In Robotics: Science and Systems (2019).

2018

  1. IJRR
    Kiril Solovey, Oren Salzman, and Dan Halperin:
    New perspective on sampling-based motion planning via random geometric graphs.
    International Journal of Robotics Research (2018).
  2. IJRR
    Aviel Atias,  Kiril Solovey, Oren Salzman, and Dan Halperin:
    Effective metrics for multi-robot motion-planning.
    International Journal of Robotics Research (2018).
  3. RSS
    Kiril Solovey, and Michal Kleinbort:
    The Critical Radius in Sampling-based Motion Planning.
    In Robotics: Science and Systems (2018).
  4. WAFR
    Rahul Shome,  Kiril Solovey, Jingjin Yu, Kostas E. Bekris, and Dan Halperin:
    Fast, High-Quality Dual-Arm Rearrangement in Synchronous, Monotone Tabletop Setups.
    In Workshop on the Algorithmic Foundations of Robotics (2018).

2017

  1. IROS
    Kiril Solovey, and Dan Halperin:
    Efficient sampling-based bottleneck pathfinding over cost maps.
    In IEEE/RSJ International Conference on Intelligent Robots and Systems (2017).
  2. MRS :trophy:
    Andrew Dobson,  Kiril Solovey, Rahul Shome, Dan Halperin, and Kostas E. Bekris:
    Scalable asymptotically-optimal multi-robot motion planning.
    Best paper award, In International Symposium on Multi-Robot and Multi-Agent Systems (2017).
  3. RSS
    Aviel Atias,  Kiril Solovey, and Dan Halperin:
    Effective Metrics for Multi-Robot Motion-Planning.
    In Robotics: Science and Systems (2017).
  4. Book Ch.
    Dan Halperin, Lydia Kavraki, and Kiril Solovey :
    Robotics.
    Handbook of Computational Geometry (2017).

2016

  1. IJRR
    Kiril Solovey, Oren Salzman, and Dan Halperin:
    Finding a needle in an exponential haystack: Discrete RRT for exploration of implicit roadmaps in multi-robot motion planning.
    International Journal of Robotics Research (2016).
  2. IJRR
    Kiril Solovey, and Dan Halperin:
    On the hardness of unlabeled multi-robot motion planning.
    International Journal of Robotics Research (2016).
  3. RA-L
    Oren Salzman,  Kiril Solovey, and Dan Halperin:
    Motion Planning for Multilink Robots by Implicit Configuration-Space Tiling.
    IEEE Robotics and Automation Letters (2016).
  4. ESA
    Kiril Solovey, and Dan Halperin:
    Sampling-Based Bottleneck Pathfinding with Applications to Fréchet Matching.
    In European Symposium on Algorithms (2016).
  5. RSS
    Kiril Solovey, Oren Salzman, and Dan Halperin:
    New perspective on sampling-based motion planning via random geometric graphs.
    In Robotics: Science and Systems (2016).

2015

  1. T-ASE
    Aviv Adler, Mark Berg, Dan Halperin, and Kiril Solovey :
    Efficient Multi-Robot Motion Planning for Unlabeled Discs in Simple Polygons.
    IEEE Transactions on Automation Science and Engineering (2015).
  2. RSS :trophy:
    Kiril Solovey, and Dan Halperin:
    On the hardness of unlabeled multi-robot motion planning.
    Best paper award (finalist), best student paper award, In Robotics: Science and Systems (2015).
  3. RSS
    Kiril Solovey, Jingjin Yu, Or Zamir, and Dan Halperin:
    Motion Planning for Unlabeled Discs with Optimality Guarantees.
    In Robotics: Science and Systems (2015).

2014

  1. IJRR
    Kiril Solovey, and Dan Halperin:
    k-Color multi-robot motion planning.
    International Journal of Robotics Research (2014).
  2. WAFR
    Aviv Adler, Mark Berg, Dan Halperin, and Kiril Solovey :
    Efficient Multi-robot Motion Planning for Unlabeled Discs in Simple Polygons.
    In Workshop on the Algorithmic Foundations of Robotics (2014).
  3. WAFR
    Kiril Solovey, Oren Salzman, and Dan Halperin:
    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).

2012

  1. WAFR
    Kiril Solovey, and Dan Halperin:
    k-Color Multi-robot Motion Planning.
    In Workshop on the Algorithmic Foundations of Robotics (2012).