Publications

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

2025

  1. CoRL :trophy:
    Yaniv Hassidof, Tom Jurgenson, and Kiril Solovey
    Train-Once Plan-Anywhere Kinodynamic Motion Planning via Diffusion Trees
    In Conference on Robot Learning, 2025; Israeli Association for Automatic Control (IAAC) GSC award
  2. T-RO
    Shmuel David Alpert, Kiril Solovey, Itzik Klein, and Oren Salzman
    Inspection planning under execution uncertainty
    IEEE Transactions on Robotics, 2025
  3. RSS
    Itai Panasoff, and Kiril Solovey
    Effective Sampling for Robot Motion Planning Through the Lens of Lattices
    In Robotics: Science and Systems, 2025
  4. ICRA
    Roy Steinberg, and Kiril Solovey
    Impossibility of Self-Organized Aggregation without Computation
    In IEEE International Conference on Robotics and Automation, 2025
  5. ICRA
    Sapir Tubul, Aviv Tamar, Kiril Solovey, and Oren Salzman
    From configuration-space clearance to feature-space margin: Sample complexity in learning-based collision detection
    In IEEE International Conference on Robotics and Automation, 2025

2024

  1. arXiv
    Roy Steinberg, and Kiril Solovey
    Impossibility of Self-Organized Aggregation without Computation
    arXiv preprint:2501.00390, 2024

2023

  1. arXiv
    Shmuel David Alpert, Kiril Solovey, Itzik Klein, and Oren Salzman
    Inspection planning under execution uncertainty
    arXiv preprint:2309.06113, 2023
  2. TCNS
    Devansh Jalota, Kiril Solovey, Karthik Gopalakrishnan, Stephen Zoepf, Hamsa Balakrishnan, and Marco Pavone
    When Efficiency meets Equity in Congestion Pricing and Revenue Refunding Schemes
    IEEE Transactions on Control of Network Systems, 2023
  3. JAAMAS :trophy:
    Devansh Jalota, Kiril Solovey, Matthew Tsao, Stephen Zoepf, and Marco Pavone
    Balancing Fairness and Efficiency in Traffic Routing via Interpolated Traffic Assignment
    Autonomous Agents and Multiagent Systems, 2023; Best students paper award (finalist), Transportation Science and Logistics, INFORMS
  4. T-RO
    Dror Dayan, Kiril Solovey, Marco Pavone, and Dan Halperin
    Near-Optimal Multi-Robot Motion Planning with Finite Sampling
    IEEE Transactions on Robotics, 2023
  5. IJRR
    Mengyu Fu, Kiril Solovey, Oren Salzman, and Ron Alterovitz
    Toward Certifiable Optimal Motion Planning for Medical Steerable Needles
    International Journal of Robotics Research, 2023
  6. ICAPS
    David Vainshtein, Yaakov Sherma, Kiril Solovey, and Oren Salzman
    Terraforming—Environment Manipulation during Disruptions for Multi-Agent Pickup and Delivery
    In International Conference on Automated Planning and Scheduling, 2023

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. SoCS
    Nitzan Madar, Kiril Solovey, and Oren Salzman
    Leveraging Experience in Lifelong Multi-Agent Pathfinding
    In International Symposium on Combinatorial Search, 2022
  4. 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
  5. 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
  6. 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
    In European Control Conference, 2020; Best students paper award (finalist)
  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
    In IEEE International Conference on Robotics and Automation, 2020; Best multi-robot systems paper award (finalist)
  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
    In 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
    In International Symposium on Multi-Robot and Multi-Agent Systems, 2017; Best paper award
  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
    In 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
    In Robotics: Science and Systems, 2015; Best paper award (finalist), best student paper award
  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