Oren Salzman

Most-cited papers

Asymptotically near-optimal RRT for fast, high-quality, motion planning
Oren Salzman, D. Halperin
2013IEEE International Conference on Robotics and Automation200 citations
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Finding a needle in an exponential haystack: Discrete RRT for exploration of implicit roadmaps in multi-robot motion planning
Kiril Solovey, Oren Salzman, D. Halperin
2013Int. J. Robotics Res.199 citations Open access
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ALGORITHMIC MOTION PLANNING
D. Halperin, Oren Salzman, M. Sharir
2016116 citations
Semantic Scholar
Generalized Lazy Search for Robot Motion Planning: Interleaving Search and Edge Evaluation via Event-based Toggles
Aditya Mandalika, Sanjiban Choudhury, Oren Salzman, S. Srinivasa
2019International Conference on Automated Planning and Scheduling70 citations Open access
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Lazy Receding Horizon A* for Efficient Path Planning in Graphs with Expensive-to-Evaluate Edges
Aditya Mandalika, Oren Salzman, S. Srinivasa
2018International Conference on Automated Planning and Scheduling59 citations Open access
Semantic Scholar
Collision detection or nearest-neighbor search? On the computational bottleneck in sampling-based motion planning
Michal Kleinbort, Oren Salzman, D. Halperin
2016Workshop on the Algorithmic Foundations of Robotics57 citations Open access
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Asymptotically-optimal Motion Planning using lower bounds on cost
Oren Salzman, D. Halperin
2014IEEE International Conference on Robotics and Automation56 citations Open access
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Asymptotically Near-Optimal RRT for Fast, High-Quality Motion Planning
Oren Salzman, Dan Halperin
2016IEEE Transactions on robotics55 citations
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Sparsification of motion-planning roadmaps by edge contraction
Oren Salzman, Doron Shaharabani, P. Agarwal, D. Halperin
2012IEEE International Conference on Robotics and Automation51 citations Open access
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The Provable Virtue of Laziness in Motion Planning
Nika Haghtalab, Simon Mackenzie, Ariel D. Procaccia, Oren Salzman +1 more
2017International Conference on Automated Planning and Scheduling49 citations Open access
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New perspective on sampling-based motion planning via random geometric graphs
Kiril Solovey, Oren Salzman, D. Halperin
2016Robotics: Science and Systems Conference44 citations Open access
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On the Power of Manifold Samples in Exploring Configuration Spaces and the Dimensionality of Narrow Passages
Oren Salzman, M. Hemmer, D. Halperin
2012IEEE Transactions on Automation Science and Engineering40 citations Open access
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Toward Asymptotically-Optimal Inspection Planning via Efficient Near-Optimal Graph Search
Mengyu Fu, A. Kuntz, Oren Salzman, R. Alterovitz
2019Robotics: Science and Systems Conference39 citations Open access
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Motion Planning via Manifold Samples
Oren Salzman, M. Hemmer, Barak Raveh, D. Halperin
2011Algorithmica31 citations Open access
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Computationally-Efficient Roadmap-based Inspection Planning via Incremental Lazy Search
Mengyu Fu, Oren Salzman, R. Alterovitz
2021IEEE International Conference on Robotics and Automation30 citations Open access
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Optimal motion planning for a tethered robot: Efficient preprocessing for fast shortest paths queries
Oren Salzman, D. Halperin
2015IEEE International Conference on Robotics and Automation29 citations
Semantic Scholar
Generalizing Informed Sampling for Asymptotically-Optimal Sampling-Based Kinodynamic Planning via Markov Chain Monte Carlo
Daqing Yi, Rohan Thakker, Cole Gulino, Oren Salzman +1 more
2017IEEE International Conference on Robotics and Automation24 citations Open access
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An Efficient Algorithm for Computing High-Quality Paths amid Polygonal Obstacles
P. Agarwal, Kyle J. Fox, Oren Salzman
2016ACM-SIAM Symposium on Discrete Algorithms23 citations Open access
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Effective metrics for multi-robot motion-planning
Aviel Atias, Kiril Solovey, Oren Salzman, D. Halperin
2017Robotics: Science and Systems19 citations Open access
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Motion Planning for Multilink Robots by Implicit Configuration-Space Tiling
Oren Salzman, Kiril Solovey, D. Halperin
2015IEEE Robotics and Automation Letters19 citations Open access
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Efficient high-quality motion planning by fast all-pairs r-nearest-neighbors
Michal Kleinbort, Oren Salzman, D. Halperin
2014IEEE International Conference on Robotics and Automation18 citations Open access
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Toward Certifiable Motion Planning for Medical Steerable Needles
Mengyu Fu, Oren Salzman, R. Alterovitz
2021Robotics: Science and Systems Conference15 citations Open access
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Roadmaps
Oren Salzman
2020Encyclopedia of Robotics15 citations
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Toward certifiable optimal motion planning for medical steerable needles
Mengyu Fu, Kiril Solovey, Oren Salzman, R. Alterovitz
2023Int. J. Robotics Res.13 citations Open access
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Following Surgical Trajectories with Concentric Tube Robots via Nearest-Neighbor Graphs
Sherdil Niyaz, A. Kuntz, Oren Salzman, R. Alterovitz +1 more
2018International Symposium on Experimental Robotics13 citations
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Densification strategies for anytime motion planning over large dense roadmaps
Shushman Choudhury, Oren Salzman, Sanjiban Choudhury, S. Srinivasa
2016IEEE International Conference on Robotics and Automation13 citations
Semantic Scholar
Optimizing Motion-Planning Problem Setup via Bounded Evaluation with Application to Following Surgical Trajectories
Sherdil Niyaz, A. Kuntz, Oren Salzman, R. Alterovitz +1 more
2019IEEE/RJS International Conference on Intelligent RObots and Systems12 citations Open access
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Efficient Motion Planning for Problems Lacking Optimal Substructure
Oren Salzman, Brian Hou, S. Srinivasa
2017International Conference on Automated Planning and Scheduling12 citations Open access
Semantic Scholar
Asymptotically optimal inspection planning via efficient near-optimal search on sampled roadmaps
Mengyu Fu, A. Kuntz, Oren Salzman, R. Alterovitz
2023Int. J. Robotics Res.11 citations Open access
Semantic Scholar
Resolution-Optimal Motion Planning for Steerable Needles
Mengyu Fu, Kiril Solovey, Oren Salzman, R. Alterovitz
2021IEEE International Conference on Robotics and Automation10 citations Open access
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A Novel Shaft-to-Tissue Force Model for Safer Motion Planning of Steerable Needles
Michael Bentley, D. C. Rucker, C. Reddy, Oren Salzman +1 more
2021arXiv.org5 citations
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Safer Motion Planning of Steerable Needles via a Shaft-to-Tissue Force Model
Michael Bentley, Caleb D. Rucker, C. Reddy, Oren Salzman +1 more
2021J. Medical Robotics Res.5 citations Open access
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Asymptotically Near-Optimal Motion Planning using Lower Bounds on Cost
Oren Salzman, D. Halperin
2014arXiv.org5 citations
Semantic Scholar
Incremental Generalized Hybrid A*
Sidharth Talia, Oren Salzman, S. Srinivasa
2025IEEE Robotics and Automation Letters4 citations Open access
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Generalizing Multi-Objective Search via Objective-Aggregation Functions
Hadar Peer, Eyal Weiss, Ron Alterovitz, Oren Salzman
2025IEEE Robotics and Automation Letters3 citations Open access
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Anytime Motion Planning on Large Dense Roadmaps with Expensive Edge Evaluations
Shushman Choudhury, Oren Salzman, Sanjiban Choudhury, Christopher M. Dellin +1 more
2017arXiv.org2 citations
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Sparsification of motion-planning roadmaps by edge contraction
Oren Salzman, Doron Shaharabani, P. Agarwal, D. Halperin
2014Int. J. Robotics Res.2 citations Open access
Semantic Scholar
DigiArm: An Anthropomorphic 3D-Printed Prosthetic Hand with Enhanced Dexterity for Typing Tasks
D. Zadok, Tom Naamani, Yuval Bar-Ratson, E. Barash +4 more
2026IEEE International Conference on Robotics and Automation1 citations Open access
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Open problem on risk-aware planning in the plane
Oren Salzman, S. Srinivasa
2016arXiv.org1 citations
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Resolution Optimal Motion Planning for Medical Needle Steering from Airway Walls in the Lung
J. Hoelscher, I. Fried, Oren Salzman, Ron Alterovitz
2025IEEE International Conference on Robotics and Automation0 citations
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Minimizing the Fréchet Error of Task-Space Paths for Manipulators and Surgical Robots
Oren Salzman, Rachel Holladay, Sherdil Niyaz, A. Kuntz +2 more
20180 citations
Semantic Scholar
50 ALGORITHMIC MOTION PLANNING
D. Halperin, Oren Salzman, M. Sharir
20160 citations
Semantic Scholar
Lazy , Goal-Biased LBT-RRT ∗ †
Oren Salzman, D. Halperin
20150 citations
Semantic Scholar
CGL Computational Geometric Learning Finding a Needle in an Exponential Haystack : Discrete RRT for Exploration of Implicit Roadmaps in Multi-Robot Motion Planning
Kiril Solovey, Oren Salzman, D. Halperin
20130 citations
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