5 citations · 14 across the 10 of their papers we have counts for
11 papers
Complete, Scalable, and Robust Prioritized Planning for Multi-Robot Ordered Storage and Retrieval at Maximum Capacity
William Zhang, Tzvika Geft, Jingjin Yu +1
Automated warehouses face a fundamental trade-off between maximizing storage density and achieving high retrieval throughput. While puzzle-based storage (PBS) architectures increas…
Hardness of Multi-Agent Path Finding on Trees: A Unified Approach
Tzvika Geft
This paper presents a simple framework that settles the complexity of Multi-Agent Path Finding (MAPF) on trees across standard objectives - distance, makespan, and flowtime - for b…
Robust Out-of-Order Retrieval for Grid-Based Storage at Maximum Capacity
Tzvika Geft, William Zhang, Jingjin Yu +1
This paper proposes a framework for improving the operational efficiency of automated storage systems under uncertainty. It considers a 2D grid-based storage for uniform-sized load…
Fully Packed and Ready to Go: High-Density, Rearrangement-Free, Grid-Based Storage and Retrieval
Tzvika Geft, Kostas Bekris, Jingjin Yu
Grid-based storage systems with uniformly shaped loads (e.g., containers, pallets, totes) are commonplace in logistics, industrial, and transportation domains. A key performance me…
Fine-Grained Complexity Analysis of Multi-Agent Path Finding on 2D Grids
Tzvika Geft
Multi-Agent Path Finding (MAPF) is a fundamental motion coordination problem arising in multi-agent systems with a wide range of applications. The problem's intractability has led…
Coordination of Multiple Robots along Given Paths with Bounded Junction Complexity
Mikkel Abrahamsen, Tzvika Geft, Dan Halperin +1
We study a fundamental NP-hard motion coordination problem for multi-robot/multi-agent systems: We are given a graph and set of agents, where each agent has a given directed pa…
Multi-Robot Motion Planning for Unit Discs with Revolving Areas
Pankaj K. Agarwal, Tzvika Geft, Dan Halperin +1
We study the problem of motion planning for a collection of labeled unit disc robots in a polygonal environment. We assume that the robots have revolving areas around their sta…
Refined Hardness of Distance-Optimal Multi-Agent Path Finding
Tzvika Geft, Dan Halperin
We study the computational complexity of multi-agent path finding (MAPF). Given a graph and a set of agents, each having a start and target vertex, the goal is to find collisio…
Tractability Frontiers in Multi-Robot Coordination and Geometric Reconfiguration
Tzvika Geft, Dan Halperin, Yonatan Nakar
We study the Monotone Sliding Reconfiguration (MSR) problem, in which pairwise interior-disjoint objects in a planar workspace need to be brought $\textit{one by…
Robust 2D Assembly Sequencing via Geometric Planning with Learned Scores
Tzvika Geft, Aviv Tamar, Ken Goldberg +1
To compute robust 2D assembly plans, we present an approach that combines geometric planning with a deep neural network. We train the network using the Box2D physics simulator with…
On Two-Handed Planar Assembly Partitioning with Connectivity Constraints
Pankaj K. Agarwal, Boris Aronov, Tzvika Geft +1
Assembly planning is a fundamental problem in robotics and automation, which involves designing a sequence of motions to bring the separate constituent parts of a product into thei…