Kiril Solovey

Most-cited papers

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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dRRT*: Scalable and informed asymptotically-optimal multi-robot motion planning
Rahul Shome, Kiril Solovey, Andrew Dobson, D. Halperin +1 more
2019Autonomous Robots140 citations Open access
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Efficient Large-Scale Multi-Drone Delivery Using Transit Networks
Shushman Choudhury, Kiril Solovey, Mykel J. Kochenderfer, M. Pavone
2019IEEE International Conference on Robotics and Automation135 citations Open access
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Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning With Forward Propagation
Michal Kleinbort, Kiril Solovey, Zakary Littlefield, Kostas E. Bekris +1 more
2018IEEE Robotics and Automation Letters109 citations Open access
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On the hardness of unlabeled multi-robot motion planning
Kiril Solovey, D. Halperin
2014Int. J. Robotics Res.107 citations Open access
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k-color multi-robot motion planning
Kiril Solovey, D. Halperin
2012Int. J. Robotics Res.83 citations Open access
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Motion Planning for Unlabeled Discs with Optimality Guarantees
Kiril Solovey, Jingjin Yu, Or Zamir, D. Halperin
2015Robotics: Science and Systems Conference75 citations Open access
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Efficient Multi-Robot Motion Planning for Unlabeled Discs in Simple Polygons
Aviv Adler, Mark de Berg, D. Halperin, Kiril Solovey
2013IEEE Transactions on Automation Science and Engineering74 citations Open access
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Revisiting the Asymptotic Optimality of RRT*
Kiril Solovey, Lucas Janson, E. Schmerling, Emilio Frazzoli +1 more
2019IEEE International Conference on Robotics and Automation56 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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Near-Optimal Multi-Robot Motion Planning with Finite Sampling
Dror Dayan, Kiril Solovey, M. Pavone, D. Halperin
2020IEEE Transactions on robotics37 citations
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Refined Analysis of Asymptotically-Optimal Kinodynamic Planning in the State-Cost Space
Michal Kleinbort, Edgar Granados, Kiril Solovey, Riccardo Bonalli +2 more
2019IEEE International Conference on Robotics and Automation35 citations Open access
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Scalable asymptotically-optimal multi-robot motion planning
Andrew Dobson, Kiril Solovey, Rahul Shome, D. Halperin +1 more
2017International Symposium on Multi-Robot and Multi-Agent Systems34 citations Open access
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The critical radius in sampling-based motion planning
Kiril Solovey, Michal Kleinbort
2017Robotics: Science and Systems Conference34 citations Open access
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Balancing fairness and efficiency in traffic routing via interpolated traffic assignment
Devansh Jalota, Kiril Solovey, Matthew W. Tsao, Stephen Zoepf +1 more
2021Autonomous Agents and Multi-Agent Systems30 citations Open access
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Fast, High-Quality Dual-Arm Rearrangement in Synchronous, Monotone Tabletop Setups
Rahul Shome, Kiril Solovey, Jingjin Yu, Kostas E. Bekris +1 more
2018Workshop on the Algorithmic Foundations of Robotics29 citations Open access
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When Efficiency Meets Equity in Congestion Pricing and Revenue Refunding Schemes
Devansh Jalota, Kiril Solovey, Karthik Gopalakrishnan, Stephen Zoepf +2 more
2021IEEE Transactions on Control of Network Systems25 citations Open access
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Coordinated Multi-Agent Pathfinding for Drones and Trucks over Road Networks
Shushman Choudhury, Kiril Solovey, Mykel J. Kochenderfer, M. Pavone
2021Adaptive Agents and Multi-Agent Systems22 citations
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Fast, High-Quality Two-Arm Rearrangement in Synchronous, Monotone Tabletop Setups
Rahul Shome, Kiril Solovey, Jingjin Yu, Kostas E. Bekris +1 more
2021IEEE Transactions on Automation Science and Engineering20 citations Open access
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Robust-RRT: Probabilistically-Complete Motion Planning for Uncertain Nonlinear Systems
Albert Wu, T. Lew, Kiril Solovey, E. Schmerling +1 more
2022International Symposium of Robotics Research19 citations Open access
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Scalable and Congestion-aware Routing for Autonomous Mobility-on-Demand via Frank-Wolfe Optimization
Kiril Solovey, Mauro Salazar, M. Pavone
2019Robotics: Science and Systems Conference19 citations Open access
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Sample Complexity of Probabilistic Roadmaps via ε-nets
Matthew W. Tsao, Kiril Solovey, M. Pavone
2019IEEE International Conference on Robotics and Automation19 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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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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Complexity of Planning
Kiril Solovey
2020Encyclopedia of Robotics11 citations
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Sampling-Based Bottleneck Pathfinding with Applications to Fréchet Matching
Kiril Solovey, D. Halperin
2016Embedded Systems and Applications11 citations
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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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Leveraging Experience in Lifelong Multi-Agent Pathfinding
Nitzan Madar, Kiril Solovey, Oren Salzman
2022Symposium on Combinatorial Search9 citations Open access
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Near-Optimal Multi-Robot Motion Planning with Finite Sampling
Dror Dayan, Kiril Solovey, M. Pavone, Dan Halperin
2021IEEE International Conference on Robotics and Automation8 citations
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Effective Sampling for Robot Motion Planning Through the Lens of Lattices
Itai Panasoff, Kiril Solovey
2025Robotics7 citations
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Train-Once Plan-Anywhere Kinodynamic Motion Planning via Diffusion Trees
Yaniv Hassidof, Tom Jurgenson, Kiril Solovey
2025arXiv.org7 citations
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Efficient sampling-based bottleneck pathfinding over cost maps
Kiril Solovey, D. Halperin
2016IEEE/RJS International Conference on Intelligent RObots and Systems7 citations Open access
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Fast Near-Optimal Heterogeneous Task Allocation via Flow Decomposition
Kiril Solovey, Saptarshi Bandyopadhyay, Federico Rossi, Michael T. Wolf +1 more
2020IEEE International Conference on Robotics and Automation6 citations Open access
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Multi-Agent Terraforming: Efficient Multi-Agent Path Finding via Environment Manipulation
D. Vainshtein, Kiril Solovey, Oren Salzman
2021Symposium on Combinatorial Search5 citations Open access
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Exploiting Locality and Structure for Distributed Optimization in Multi-Agent Systems
Robin Brown, Federico Rossi, Kiril Solovey, Michael T. Wolf +1 more
2020European Control Conference5 citations
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Terraforming - Environment Manipulation during Disruptions for Multi-Agent Pickup and Delivery
D. Vainshtein, Yaakov Sherma, Kiril Solovey, Oren Salzman
2023Symposium on Combinatorial Search4 citations Open access
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On Local Computation for Network-Structured Convex Optimization in Multiagent Systems
Robin Brown, Federico Rossi, Kiril Solovey, Matthew W. Tsao +2 more
2021IEEE Transactions on Control of Network Systems4 citations Open access
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Corrections to "Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning With Forward Propagation"
Michal Kleinbort, Kiril Solovey, Zakary Littlefield, Kostas E. Bekris +1 more
2023IEEE Robotics Autom. Lett.3 citations Open access
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Multi-Robot Path Planning Using Medial-Axis-Based Pebble-Graph Embedding
Liang He, Zherong Pan, Kiril Solovey, Biao Jia +1 more
2020IEEE/RJS International Conference on Intelligent RObots and Systems3 citations Open access
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Scalable Inspection Planning via Flow-based Mixed Integer Linear Programming
Adir Morgan, Kiril Solovey, Oren Salzman
2026arXiv.org2 citations
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Inspection Planning Under Execution Uncertainty
Shmuel David Alpert, Kiril Solovey, Itzik Klein, Oren Salzman
2023IEEE Transactions on robotics1 citations Open access
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RRT2.0 for Fast and Optimal Kinodynamic Sampling-Based Motion Planning
Michal Kleinbort, Kiril Solovey, Riccardo Bonalli, Kostas E. Bekris +1 more
2019arXiv.org1 citations
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Multi-Robot Motion Planning: Theory and Practice
Kiril Solovey
20181 citations
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Efficient multi-robot motion planning for unlabeled discs in simple polygons (Extended abstract)
Aviv Adler, D. Berg, Dan Halperin, Kiril Solovey
20141 citations
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PSPACE-hardness of unlabeled motion planning and variants
Kiril Solovey, D. Halperin
2014arXiv.org1 citations
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k-Color Multi-Robot Motion Planning Supplementary On-line Material
Kiril Solovey, D. Halperin
20121 citations
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Bringing Network Coding into Multi-Robot Systems: Interplay Study for Autonomous Systems over Wireless Communications
Anil Zaher, Kiril Solovey, Alejandro Cohen
2026arXiv.org0 citations
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Routing and Control for Marine Oil-Spill Cleanup with a Boom-Towing Vessel Fleet
Snir Carmeli, Adir Morgan, Kiril Solovey
2026arXiv.org0 citations
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Inspection-SPARS: Task-Oriented Sparse Roadmaps for Inspection Planning
Adir Morgan, Oren Salzman, Kiril Solovey
20260 citations
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