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cs.RO2026
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…
cs.RO2026
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…
cs.RO2026
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…