Author

Shahaf S. Shperberg

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Open access Aug 2026

Tree-MAPF: On the Complexity of Optimizing Multi Agent Path Finding on Tree Graphs

In its general form, Multi-Agent Path Finding (MAPF) is well known to be NP-hard for various optimization objectives. But determining the complexity boundary for restricted topologies remains a key theoretical challenge. This paper investigates the complexity of MAPF on tree topologies. While recent work has establishe...

Daniel Koyfman, Dor Atzmon, Shahaf S. Shperberg et al. · Proceedings of the Internati... · 1 citation

#artificial intelligence Preprint Oct 2026

Optimal Planning in a Dynamic World

Background: We address the problem of planning when the set of feasible states or actions changes over time. For example, in the problem of path planning among moving obstacles (sometimes known as SIPP), the feasibility of being at a particular location can change as the obstacles move. Or, the action of boarding a par...

Devin Wild Thomas, S. E. Shimony, Wheeler Ruml et al. · 0 citations

Preprint Aug 2026

StochSIPP: Safe Interval Path Planning in Stochastic Dynamic Environments

StochSIPP is presented, an exact contingent planner for temporal roadmaps with uncertain edge and vertex statuses revealed locally during execution that preserves the observed success of safe fixed-path baselines while reducing arrival time, and solves gated scenarios in which conservative fixed-path planners return no...

Ajith Kemisetti, Shahaf S. Shperberg, Yoonchang Sung · 0 citations