Dan Halperin

According to our database1, Dan Halperin authored at least 149 papers between 1989 and 2020.

Collaborative distances:
  • Dijkstra number2 of four.
  • Erdős number3 of two.

Awards

ACM Fellow

ACM Fellow 2018, "For contributions to robust geometric computing and applications to robotics and automation".

IEEE Fellow

IEEE Fellow 2015, "For contributions to robust geometric algorithms for robotics and automation".

Timeline

Legend:

Book 
In proceedings 
Article 
PhD thesis 
Other 

Links

Homepages:

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Bibliography

2020
Space-Aware Reconfiguration.
CoRR, 2020

Geometric Sparsification of Closeness Relations: Eigenvalue Clustering for Computing Matrix Functions.
CoRR, 2020

The Maximum-Level Vertex in an Arrangement of Lines.
CoRR, 2020

dRRT<sup>*</sup>: Scalable and informed asymptotically-optimal multi-robot motion planning.
Auton. Robots, 2020

2019
Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning With Forward Propagation.
IEEE Robotics Autom. Lett., 2019

Optimized Synthesis of Snapping Fixtures.
CoRR, 2019

RRT2.0 for Fast and Optimal Kinodynamic Sampling-Based Motion Planning.
CoRR, 2019

Sensory Regimes of Effective Distributed Searching without Leaders.
CoRR, 2019

dRRT*: Scalable and Informed Asymptotically-Optimal Multi-Robot Motion Planning.
CoRR, 2019

Dynamic Maintenance of the Lower Envelope of Pseudo-Lines.
CoRR, 2019

Maintaining the Union of Unit Discs Under Insertions with Near-Optimal Overhead.
Proceedings of the 35th International Symposium on Computational Geometry, 2019

Robust 2D Assembly Sequencing via Geometric Planning with Learned Scores.
Proceedings of the 15th IEEE International Conference on Automation Science and Engineering, 2019

2018
New perspective on sampling-based motion planning via random geometric graphs.
I. J. Robotics Res., 2018

Effective metrics for multi-robot motion-planning.
I. J. Robotics Res., 2018

Motion Planning for Multiple Unit-Ball Robots in ℝ<sup>d</sup>.
CoRR, 2018

Exact Minkowski sums of polygons with holes.
Comput. Geom., 2018

Motion Planning for Multiple Unit-Ball Robots in \(\mathbb {R}^{{\varvec{d}}}\).
Proceedings of the Algorithmic Foundations of Robotics XIII, 2018

Fast, High-Quality Dual-Arm Rearrangement in Synchronous, Monotone Tabletop Setups.
Proceedings of the Algorithmic Foundations of Robotics XIII, 2018

2017
Effective Metrics for Multi-Robot Motion-Planning.
Proceedings of the Robotics: Science and Systems XIII, 2017

Scalable asymptotically-optimal multi-robot motion planning.
Proceedings of the 2017 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2017

Efficient sampling-based bottleneck pathfinding over cost maps.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

On the separation of a polyhedron from its single-part mold.
Proceedings of the 13th IEEE Conference on Automation Science and Engineering, 2017

2016
Engineering Geometric Algorithms.
Encyclopedia of Algorithms, 2016

Asymptotically Near-Optimal RRT for Fast, High-Quality Motion Planning.
IEEE Trans. Robotics, 2016

Motion Planning for Multilink Robots by Implicit Configuration-Space Tiling.
IEEE Robotics Autom. Lett., 2016

Finding a needle in an exponential haystack: Discrete RRT for exploration of implicit roadmaps in multi-robot motion planning.
I. J. Robotics Res., 2016

On the hardness of unlabeled multi-robot motion planning.
I. J. Robotics Res., 2016

Optimal randomized incremental construction for guaranteed logarithmic planar point location.
Comput. Geom., 2016

Collision Detection or Nearest-Neighbor Search? On the Computational Bottleneck in Sampling-based Motion Planning.
Proceedings of the Algorithmic Foundations of Robotics XII, 2016

Sampling-Based Bottleneck Pathfinding with Applications to Fréchet Matching.
Proceedings of the 24th Annual European Symposium on Algorithms, 2016

2015
On the Power of Manifold Samples in Exploring Configuration Spaces and the Dimensionality of Narrow Passages.
IEEE Trans Autom. Sci. Eng., 2015

Efficient Multi-Robot Motion Planning for Unlabeled Discs in Simple Polygons.
IEEE Trans Autom. Sci. Eng., 2015

Motion Planning for Multi-Link Robots by Implicit Configuration-Space Tiling.
CoRR, 2015

Motion Planning for Unlabeled Discs with Optimality Guarantees.
Proceedings of the Robotics: Science and Systems XI, Sapienza University of Rome, 2015

Asymptotically-optimal Motion Planning using lower bounds on cost.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Optimal motion planning for a tethered robot: Efficient preprocessing for fast shortest paths queries.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Efficient high-quality motion planning by fast all-pairs r-nearest-neighbors.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

The Offset Filtration of Convex Objects.
Proceedings of the Algorithms - ESA 2015, 2015

Real-time collision detection for multiple packaging robots using monotonicity of configuration subspaces.
Proceedings of the IEEE International Conference on Automation Science and Engineering, 2015

2014
<i>k</i>-color multi-robot motion planning.
I. J. Robotics Res., 2014

Sparsification of motion-planning roadmaps by edge contraction.
I. J. Robotics Res., 2014

PSPACE-hardness of unlabeled motion planning and variants.
CoRR, 2014

Asymptotically Near-Optimal Motion Planning using Lower Bounds on Cost.
CoRR, 2014

2013
Polyhedral Assembly Partitioning With Infinite Translations or The Importance of Being Exact.
IEEE Trans Autom. Sci. Eng., 2013

Motion Planning via Manifold Samples.
Algorithmica, 2013

2012
Introduction to special issue ALENEX'10.
ACM J. Exp. Algorithmics, 2012

Deconstructing Approximate Offsets.
Discret. Comput. Geom., 2012

k-Color Multi-robot Motion Planning.
Proceedings of the Algorithmic Foundations of Robotics X, 2012

Improved Implementation of Point Location in General Two-Dimensional Subdivisions.
Proceedings of the Algorithms - ESA 2012, 2012

Lines through Segments in 3D Space.
Proceedings of the Algorithms - ESA 2012, 2012

CGAL Arrangements and Their Applications - A Step-by-Step Guide.
Geometry and Computing 7, Springer, ISBN: 978-3-642-17282-3, 2012

2011
A Little More, a Lot Better: Improving Path Quality by a Path-Merging Algorithm.
IEEE Trans. Robotics, 2011

Fast and robust retrieval of Minkowski sums of rotating convex polyhedra in 3-space.
Comput. Aided Des., 2011

Guest Editorial: Selected Papers from European Symposium on Algorithms.
Algorithmica, 2011

2010
Constructing Two-Dimensional Voronoi Diagrams via Divide-and-Conquer of Envelopes in Space.
Trans. Comput. Sci., 2010

Arrangements on Parametric Surfaces I: General Framework and Infrastructure.
Mathematics in Computer Science, 2010

Arrangements on Parametric Surfaces II: Concretizations and Applications.
Mathematics in Computer Science, 2010

Approximating the Pathway Axis and the Persistence Diagrams for a Collection of Balls in 3-Space.
Discret. Comput. Geom., 2010

Improving the Quality of Non-Holonomic Motion by Hybridizing C-PRM Paths
CoRR, 2010

A Little More, a Lot Better: Improving Path Quality by a Simple Path Merging Algorithm
CoRR, 2010

Sampling-Diagram Automata: A Tool for Analyzing Path Quality in Tree Planners.
Proceedings of the Algorithmic Foundations of Robotics IX, 2010

Controlled Perturbation for Certified Geometric Computing with Fixed-Precision Arithmetic.
Proceedings of the Mathematical Software, 2010

Constructing the Exact Voronoi Diagram of Arbitrary Lines in Three-Dimensional Space - with Fast Point-Location.
Proceedings of the Algorithms, 2010

2009
Rapid Sampling of Molecular Motions with Prior Information Constraints.
PLoS Computational Biology, 2009

On the Exact Maximum Complexity of Minkowski Sums of Polytopes.
Discret. Comput. Geom., 2009

2008
Engineering Geometric Algorithms.
Proceedings of the Encyclopedia of Algorithms - 2008 Edition, 2008

MolAxis: a server for identification of channels in macromolecules.
Nucleic Acids Res., 2008

An experimental study of point location in planar arrangements in CGAL.
ACM J. Exp. Algorithmics, 2008

Planning High-quality Paths and Corridors Amidst Obstacles.
I. J. Robotics Res., 2008

Polyhedral Assembly Partitioning with Infinite Translations or <i>The Importance of Being Exact</i>.
Proceedings of the Algorithmic Foundation of Robotics VIII, 2008

Approximating the pathway axis and the persistence diagram of a collection of balls in 3-space.
Proceedings of the 24th ACM Symposium on Computational Geometry, 2008

Arrangements of geodesic arcs on the sphere.
Proceedings of the 24th ACM Symposium on Computational Geometry, 2008

The complexity of the outer face in arrangements of random segments.
Proceedings of the 24th ACM Symposium on Computational Geometry, 2008

2007
Advanced programming techniques applied to Cgal's arrangement package.
Comput. Geom., 2007

The visibility-Voronoi complex and its applications.
Comput. Geom., 2007

An intersection-sensitive algorithm for snap rounding.
Comput. Geom., 2007

Exact and efficient construction of Minkowski sums of convex polyhedra with applications.
Comput. Aided Des., 2007

Prediction and simulation of motion in pairs of transmembrane alpha-helices.
Bioinform., 2007

Sweeping and Maintaining Two-Dimensional Arrangements on Surfaces: A First Step.
Proceedings of the Algorithms, 2007

On the exact maximum complexity of Minkowski sums of convex polyhedra.
Proceedings of the 23rd ACM Symposium on Computational Geometry, Gyeongju, 2007

2006
Planning Near-Optimal Corridors Amidst Obstacles.
Proceedings of the Algorithmic Foundation of Robotics VII, 2006

An Experimental Study of Point Location in General Planar Arrangements.
Proceedings of the Eighth Workshop on Algorithm Engineering and Experiments, 2006

2005
Continuous Path Verification in Multi-axis Nc-machining.
Int. J. Comput. Geom. Appl., 2005

Precise global collision detection in multi-axis NC-machining.
Comput. Aided Des., 2005

Improved Maintenance of Molecular Surfaces Using Dynamic Graph Connectivity.
Proceedings of the Algorithms in Bioinformatics, 5th International Workshop, 2005

Exact Minkowski sums of convex polyhedra.
Proceedings of the 21st ACM Symposium on Computational Geometry, 2005

Dynamic maintenance of molecular surfaces under conformational changes.
Proceedings of the 21st ACM Symposium on Computational Geometry, 2005

2004
Robotics.
Proceedings of the Handbook of Discrete and Computational Geometry, Second Edition., 2004

Arrangements.
Proceedings of the Handbook of Discrete and Computational Geometry, Second Edition., 2004

Algorithm and Data Structures for Efficient Energy Maintenance during Monte Carlo Simulation of Proteins.
J. Comput. Biol., 2004

Controlled perturbation for arrangements of circles.
Int. J. Comput. Geom. Appl., 2004

Speeding up the incremental construction of the union of geometric objects in practice.
Comput. Geom., 2004

Assigning transmembrane segments to helices in intermediate-resolution structures.
Proceedings of the Proceedings Twelfth International Conference on Intelligent Systems for Molecular Biology/Third European Conference on Computational Biology 2004, 2004

Code Flexibility and Program Efficiency by Genericity: Improving Cgal's Arrangements.
Proceedings of the Algorithms, 2004

Engineering Geometric Algorithms: Persistent Problems and Some Solutions (Abstract of invited talk).
Proceedings of the Sixth Workshop on Algorithm Engineering and Experiments and the First Workshop on Analytic Algorithmics and Combinatorics, 2004

2003
An Experimental Study of On-Line Methods for Zone Construction in Arrangements of Lines in the Plane.
Int. J. Comput. Geom. Appl., 2003

2002
The 2-Center Problem with Obstacles.
J. Algorithms, 2002

Robust Geometric Computing in Motion.
I. J. Robotics Res., 2002

Iterated snap rounding.
Comput. Geom., 2002

Polygon decomposition for efficient construction of Minkowski sums.
Comput. Geom., 2002

Separating an object from its cast.
Comput. Aided Des., 2002

Hybrid Motion Planning: Coordinating Two Discs Moving among Polygonal Obstacles in the Plane.
Proceedings of the Algorithmic Foundations of Robotics V, 2002

Improved construction of vertical decompositions of three-dimensional arrangements.
Proceedings of the 18th Annual Symposium on Computational Geometry, Barcelona, 2002

Efficient maintenance and self-collision testing for Kinematic Chains.
Proceedings of the 18th Annual Symposium on Computational Geometry, Barcelona, 2002

Exact minkowski sums and applications.
Proceedings of the 18th Annual Symposium on Computational Geometry, Barcelona, 2002

2001
On the Number of Regular Vertices of the Union of Jordan Regions.
Discret. Comput. Geom., 2001

Guest Editors' Foreword.
Discret. Comput. Geom., 2001

2000
The Design and Implementation of Planar Maps in CGAL.
ACM J. Exp. Algorithmics, 2000

A General Framework for Assembly Planning: The Motion Space Approach.
Algorithmica, 2000

Two-Dimensional Arrangements in CGAL and Adaptive Point Location for Parametric Curves.
Proceedings of the Algorithm Engineering, 2000

On the Number of Views of Polyhedral Scenes.
Proceedings of the Discrete and Computational Geometry, Japanese Conference, 2000

Robust and Efficient Construction of Planar Minkowski Sums.
EuroCG, 2000

1999
On the Area Bisectors of a Polygon.
Discret. Comput. Geom., 1999

The Design and Implementation of Planar Maps in CGAL.
Proceedings of the Algorithm Engineering, 1999

On-Line Zone Construction in Arrangements of Lines in the Plane.
Proceedings of the Algorithm Engineering, 1999

Tutorial 9 - Visibility.
Proceedings of the 20th Annual Conference of the European Association for Computer Graphics, 1999

Robot Algorithms.
Proceedings of the Algorithms and Theory of Computation Handbook., 1999

1998
Polyhedral Assembly Partitioning Using Maximally Covered Cells in Arrangements of Convex Polytopes.
Int. J. Comput. Geom. Appl., 1998

Combinatorial complexity of translating a box in polyhedral 3-space.
Comput. Geom., 1998

A perturbation scheme for spherical arrangements with application to molecular modeling.
Comput. Geom., 1998

Spheres, molecules, and hidden surface removal.
Comput. Geom., 1998

Conservative Visibility and Strong Occlusion for Viewspace Partitioning of Densely Occluded Scenes.
Comput. Graph. Forum, 1998

The Dynamic Servers Problem.
Proceedings of the Ninth Annual ACM-SIAM Symposium on Discrete Algorithms, 1998

1997
Sparse Arrangements and the Number of Views of Polyhedral Scenes.
Int. J. Comput. Geom. Appl., 1997

The Area Bisectors of a Polygon and Force Equilibria in Programmable Vector Fields.
Proceedings of the Thirteenth Annual Symposium on Computational Geometry, 1997

1996
A Near-Quadratic Algorithm for Planning the Motion of a Polygon in a Polygonal Environment.
Discret. Comput. Geom., 1996

Vertical Decompositions for Triangles in 3-Space.
Discret. Comput. Geom., 1996

Assembly partitioning along simple paths: the case of multiple translations.
Adv. Robotics, 1996

Geometric Manipulation of Flexible Ligands.
Proceedings of the Applied Computational Geormetry, 1996

Efficient Generation of k-Directional Assembly Sequences.
Proceedings of the Seventh Annual ACM-SIAM Symposium on Discrete Algorithms, 1996

1995
Reaching a Goal with Directional Uncertainty.
Theor. Comput. Sci., 1995

Almost Tight Upper Bounds for the Single Cell and Zone Problems in Three Dimensions.
Discret. Comput. Geom., 1995

Vertical Decomposition of Arrangements of Hyperplanes in Four Dimensions.
Discret. Comput. Geom., 1995

Arrangements of Segments that Share Endpoints Single Face Results.
Discret. Comput. Geom., 1995

A Simple and Effeicient Procedure for Polyhedral Assembly Partitioning under Infinitesimal Motions.
Proceedings of the 1995 International Conference on Robotics and Automation, 1995

The complexity of a single face of a minkowski sum.
Proceedings of the 7th Canadian Conference on Computational Geometry, 1995

1994
Robot motion planning and the single cell problem in arrangements.
J. Intell. Robotic Syst., 1994

New Bounds for Lower Envelopes in Three Dimensions, with Applications to Visbility in Terrains.
Discret. Comput. Geom., 1994

On the Complexity of a Single Cell in Certain Arrangement of Surfaces Related to Motion Planning.
Discret. Comput. Geom., 1994

Efficient Ray Shooting and Hidden Surface Removal.
Algorithmica, 1994

1993
The Complexity of the Free Space for a Robot Moving Amidst Fat Obstacles.
Comput. Geom., 1993

Efficient Algorithms for Exact Motion Planning Amidst Fat Obstacles.
Proceedings of the 1993 IEEE International Conference on Robotics and Automation, 1993

Near-Quadratic Bounds for the Motion Planning Problem for a Polygon in a Polygonal Environment
Proceedings of the 34th Annual Symposium on Foundations of Computer Science, 1993

New Bounds for Lower Envelopes in Three Dimensions, with Applications to Visibility in Terrains.
Proceedings of the Ninth Annual Symposium on Computational GeometrySan Diego, 1993

1992
Efficient Motion Planning for an L-Shaped Object.
SIAM J. Comput., 1992

1991
On Disjoint Concave Chains in Arrangements of (Pseudo) Lines.
Inf. Process. Lett., 1991

Improved Combinatorial Bounds and Efficient Techniques for Certain Motion Planning Problems with Three Degrees of Freedom.
Comput. Geom., 1991

On the Complexity of a Single Cell in Certain Arrangements of Surfaces in 3-Space (Extended Abstract).
Proceedings of the Seventh Annual Symposium on Computational Geometry, 1991

1989
Efficient Motion Planning for an L-Shaped Object.
Proceedings of the Fifth Annual Symposium on Computational Geometry, 1989


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