Shaull Almagor

2 accepted papers

2022

Conflict-Based Search for Multi-Robot Motion Planning with Kinodynamic Constraints

Justin Kottinger, Shaull Almagor, Morteza Lahijanian

IROS 2022poster

Multi-robot motion planning (MRMP) is the fundamental problem of finding non-colliding trajectories for multiple robots acting in an environment, under kinodynamic constraints. Due to its complexity, existing algorithms are either incomplete, or utilize simplifying assumptions. This work introduces…

Cited by 44 Source ↗Scholar ↗

2021

MAPS-X: Explainable Multi-Robot Motion Planning via Segmentation

Justin Kottinger, Shaull Almagor, Morteza Lahijanian

ICRA 2021poster

Traditional multi-robot motion planning (MMP) focuses on computing trajectories for multiple robots acting in an environment, such that the robots do not collide when the trajectories are taken simultaneously. In safety-critical applications, a human supervisor may want to verify that the plan is in…

Cited by 14 Source ↗Scholar ↗