| 2025 | ICRA | Indoor Localization of UAVs Using Only Few Measurements by Output-Sensitive Preimage Intersection. | Michael M. Bilevich, Tomer Buber, Dan Halperin |
| 2025 | ICRA | A Full-Cycle Assembly Operation: From Digital Planning to Trajectory Execution Using a Robotic Arm. | Dror Livnat, Yuval Lavi, Dan Halperin |
| 2024 | ICRA | Tight Motion Planning by Riemannian Optimization for Sliding and Rolling with Finite Number of Contact Points. | Dror Livnat, Michael M. Bilevich, Dan Halperin |
| 2024 | SODA | Near-Optimal Min-Sum Motion Planning for Two Square Robots in a Polygonal Environment. | Pankaj K. Agarwal, Dan Halperin, Micha Sharir, Alex Steiger |
| 2023 | ICRA | Sensor Localization by Few Distance Measurements via the Intersection of Implicit Manifolds. | Michael M. Bilevich, Steven M. LaValle, Dan Halperin |
| 2023 | WADS | Shortest Coordinated Motion for Square Robots. | Guillermo Esteban, Dan Halperin, Vctor Ruz, Vera Sacristn, Rodrigo I. Silveira |
| 2022 | ISAAC | Multi-Robot Motion Planning for Unit Discs with Revolving Areas. | Pankaj K. Agarwal, Tzvika Geft, Dan Halperin, Erin Taylor |
| 2021 | ICRA | Near-Optimal Multi-Robot Motion Planning with Finite Sampling. | Dror Dayan, Kiril Solovey, Marco Pavone, Dan Halperin |
| 2021 | SODA | On Two-Handed Planar Assembly Partitioning with Connectivity Constraints. | Pankaj K. Agarwal, Boris Aronov, Tzvika Geft, Dan Halperin |
| 2021 | WAFR | Space-Aware Reconfiguration. | Dan Halperin, Marc J. van Kreveld, Golan Miglioli-Levy, Micha Sharir |
| 2021 | WAFR | Optimized Synthesis of Snapping Fixtures. | Tom Tsabar, Efi Fogel, Dan Halperin |
| 2020 | ICRA | Refined Analysis of Asymptotically-Optimal Kinodynamic Planning in the State-Cost Space. | Michal Kleinbort, Edgar Granados, Kiril Solovey, Riccardo Bonalli, Kostas E. Bekris, Dan Halperin |
| 2018 | WAFR | Fast, High-Quality Dual-Arm Rearrangement in Synchronous, Monotone Tabletop Setups. | Rahul Shome, Kiril Solovey, Jingjin Yu, Kostas E. Bekris, Dan Halperin |
| 2018 | WAFR | Motion Planning for Multiple Unit-Ball Robots in \(\mathbb {R}^{{\varvec{d}}}\). | Israela Solomon, Dan Halperin |
| 2017 | IROS | Efficient sampling-based bottleneck pathfinding over cost maps. | Kiril Solovey, Dan Halperin |
| 2016 | ESA | Sampling-Based Bottleneck Pathfinding with Applications to Frchet Matching. | Kiril Solovey, Dan Halperin |
| 2016 | WAFR | Collision Detection or Nearest-Neighbor Search? On the Computational Bottleneck in Sampling-based Motion Planning. | Michal Kleinbort, Oren Salzman, Dan Halperin |
| 2015 | ESA | Exact Minkowski Sums of Polygons With Holes. | Alon Baram, Efi Fogel, Dan Halperin, Michael Hemmer, Sebastian Morr |
| 2015 | ESA | The Offset Filtration of Convex Objects. | Dan Halperin, Michael Kerber, Doron Shaharabani |
| 2015 | ICRA | Efficient high-quality motion planning by fast all-pairs r-nearest-neighbors. | Michal Kleinbort, Oren Salzman, Dan Halperin |
| 2015 | ICRA | Optimal motion planning for a tethered robot: Efficient preprocessing for fast shortest paths queries. | Oren Salzman, Dan Halperin |
| 2015 | ICRA | Asymptotically-optimal Motion Planning using lower bounds on cost. | Oren Salzman, Dan Halperin |
| 2014 | ICRA | Asymptotically near-optimal RRT for fast, high-quality, motion planning. | Oren Salzman, Dan Halperin |
| 2014 | WAFR | Efficient Multi-robot Motion Planning for Unlabeled Discs in Simple Polygons. | Aviv Adler, Mark de Berg, Dan Halperin, Kiril Solovey |
| 2014 | WAFR | Finding a Needle in an Exponential Haystack: Discrete RRT for Exploration of Implicit Roadmaps in Multi-robot Motion Planning. | Kiril Solovey, Oren Salzman, Dan Halperin |
| 2013 | ICRA | Sparsification of motion-planning roadmaps by edge contraction. | Doron Shaharabani, Oren Salzman, Pankaj K. Agarwal, Dan Halperin |
| 2012 | ESA | Lines through Segments in 3D Space. | Efi Fogel, Michael Hemmer, Asaf Porat, Dan Halperin |
| 2012 | ESA | Improved Implementation of Point Location in General Two-Dimensional Subdivisions. | Michael Hemmer, Michal Kleinbort, Dan Halperin |
| 2012 | WAFR | On the Power of Manifold Samples in Exploring Configuration Spaces and the Dimensionality of Narrow Passages. | Oren Salzman, Michael Hemmer, Dan Halperin |
| 2012 | WAFR | k-Color Multi-robot Motion Planning. | Kiril Solovey, Dan Halperin |
| 2011 | ESA | Motion Planning via Manifold Samples. | Oren Salzman, Michael Hemmer, Barak Raveh, Dan Halperin |
| 2010 | ESA | Constructing the Exact Voronoi Diagram of Arbitrary Lines in Three-Dimensional Space - with Fast Point-Location. | Michael Hemmer, Ophir Setter, Dan Halperin |
| 2010 | WAFR | Sampling-Diagram Automata: A Tool for Analyzing Path Quality in Tree Planners. | Oren Nechushtan, Barak Raveh, Dan Halperin |
| 2008 | WAFR | Polyhedral Assembly Partitioning with Infinite Translations or | Efi Fogel, Dan Halperin |
| 2007 | ESA | Sweeping and Maintaining Two-Dimensional Arrangements on Surfaces: A First Step. | Eric Berberich, Efi Fogel, Dan Halperin, Kurt Mehlhorn, Ron Wein |
| 2006 | ALENEX | Exact and Efficient Construction of Minkowski Sums of Convex Polyhedra with Applications. | Efi Fogel, Dan Halperin |
| 2006 | ALENEX | An Experimental Study of Point Location in General Planar Arrangements. | Idit Haran, Dan Halperin |
| 2006 | WAFR | Planning Near-Optimal Corridors Amidst Obstacles. | Ron Wein, Jur P. van den Berg, Dan Halperin |
| 2005 | WABI | Improved Maintenance of Molecular Surfaces Using Dynamic Graph Connectivity. | Eran Eyal, Dan Halperin |
| 2004 | ALENEX | Engineering Geometric Algorithms: Persistent Problems and Some Solutions (Abstract of invited talk). | Dan Halperin |
| 2004 | ESA | Code Flexibility and Program Efficiency by Genericity: Improving Cgal's Arrangements. | Efi Fogel, Ron Wein, Dan Halperin |
| 2004 | ISMB | Assigning transmembrane segments to helices in intermediate-resolution structures. | Angela Enosh, Sarel Jacob Fleishman, Nir Ben-Tal, Dan Halperin |
| 2002 | ESA | Speeding Up the Incremental Construction of the Union of Geometric Objects in Practice. | Eti Ezra, Dan Halperin, Micha Sharir |
| 2002 | WAFR | Hybrid Motion Planning: Coordinating Two Discs Moving among Polygonal Obstacles in the Plane. | Shai Hirsch, Dan Halperin |
| 2000 | ESA | Polygon Decomposition for Efficient Construction of Minkowski Sums. | Pankaj K. Agarwal, Eyal Flato, Dan Halperin |
| 1998 | SODA | The Dynamic Servers Problem. | Moses Charikar, Dan Halperin, Rajeev Motwani |
| 1996 | SODA | Efficient Generation of k-Directional Assembly Sequences. | Pankaj K. Agarwal, Mark de Berg, Dan Halperin, Micha Sharir |
| 1995 | ICRA | A Simple and Effeicient Procedure for Polyhedral Assembly Partitioning under Infinitesimal Motions. | Leonidas J. Guibas, Dan Halperin, Hirohisa Hirukawa, Jean-Claude Latombe, Randall H. Wilson |
| 1995 | ICRA | Assembly Partitioning along Simple Paths: the Case of Multiple Translations. | Dan Halperin, Randall H. Wilson |
| 1993 | FOCS | Near-Quadratic Bounds for the Motion Planning Problem for a Polygon in a Polygonal Environment | Dan Halperin, Micha Sharir |
| 1993 | ISAAC | Reaching a Goal with Directional Uncertainty. | Mark de Berg, Mark H. Overmars, Leonidas J. Guibas, Otfried Schwarzkopf, Monique Teillaud, Dan Halperin, Micha Sharir |
| 1993 | ICRA | Efficient Algorithms for Exact Motion Planning Amidst Fat Obstacles. | A. Frank van der Stappen, Dan Halperin, Mark H. Overmars |