Papers
73
Total Citations
1,555
H-Index
22
About
Dan Halperin is a prominent computational geometry and robotics researcher whose work has fundamentally shaped our understanding of motion planning, particularly in multi-robot systems. Based at Tel Aviv University, Halperin has built a distinguished career bridging theoretical algorithmic foundations with practical robotics applications. His most influential contributions center on multi-robot motion planning, where he and his collaborators developed the discrete-RRT (dRRT) framework — a sampling-based approach for navigating implicit roadmaps in complex multi-robot environments — accumulating over 200 citations across related publications. Halperin has made significant theoretical advances in understanding the complexity of robot motion, including foundational work on free-space complexity amidst fat obstacles and the hardness of unlabeled multi-robot planning, where robots are interchangeable and need not follow assigned targets. His visibility-Voronoi complex work (109 citations) opened new geometric tools for robot navigation, while his research on optimality-guaranteed path planning for unlabeled disc robots demonstrates his commitment to both rigor and practicality. His early involvement in the Algorithmic Foundations of Robotics workshop (1995) reflects his lasting influence on shaping the research community itself. Collectively, Halperin's portfolio represents essential reading for anyone studying robot motion planning or computational geometry.
Research Focus
Key Achievements
Top Papers
- 1
- 2The visibility–Voronoi complex and its applications109 citations · 2006
- 3
- 4Proceedings of the workshop on Algorithmic foundations of robotics82 citations · 1995
- 5The complexity of the free space for a robot moving amidst fat obstacles77 citations · 1993
- 6On the hardness of unlabeled multi-robot motion planning75 citations · 2016
- 7<i>k</i> -color multi-robot motion planning63 citations · 2013
- 8Motion Planning for Unlabeled Discs with Optimality Guarantees62 citations · 2015
- 9Efficient Multi-Robot Motion Planning for Unlabeled Discs in Simple Polygons54 citations · 2015
- 10Planning High-quality Paths and Corridors Amidst Obstacles51 citations · 2008