5 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…
On the Hardness of Optimal Motion on Trees
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 bot…
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…
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…