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- Kiril Solovey, Jingjin Yu, Or Zamir, Dan Halperin
- Robotics: Science and Systems
- 2015

We study the problem of path planning for unlabeled (indistinguishable) unit-disc robots in a planar environment cluttered with polygonal obstacles. We introduce an algorithm which minimizes the total path length, i.e., the sum of lengths of the individual paths. Our algorithm is guaranteed to find a solution if one exists, or report that none exists… (More)

The Subtree Isomorphism problem asks whether a given tree is contained in another given tree. The problem is of fundamental importance and has been studied since the 1960s. For some variants, e.g., ordered trees, near-linear time algorithms are known, but for the general case truly subquadratic algorithms remain elusive. Our first result is a reduction from… (More)

- Shiri Chechik, Haim Kaplan, Mikkel Thorup, Or Zamir, Uri Zwick
- STACS
- 2016

Gabow and Tarjan showed that the Bottleneck Path (BP) problem, i.e., finding a path between a given source and a given target in a weighted directed graph whose largest edge weight is minimized, as well as the Bottleneck spanning tree (BST) problem, i.e., finding a directed spanning tree rooted at a given vertex whose largest edge weight is minimized, can… (More)

- Haim Kaplan, Or Zamir, Uri Zwick
- SODA
- 2015

We obtain an essentially optimal tradeoff between the amortized cost of the three basic priority queue operations insert, delete and find-min in the comparison model. More specifically, we show that A(find-min) = Ω ( n (2 + )A(insert)+A(delete) )

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