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Tzvika Geft



I am a Ph.D. candidate at the School of Computer Science, Tel Aviv University, where I am a member of the Computational Geometry Lab led by Dan Halperin.

My current interest is improving the understanding of the complexity of NP-hard motion planning problems, in order to better confront them.

I have been working on problems in multi-robot motion planning, assembly planning, and geometric reconfiguration.

Previously I completed my B.Sc. and M.Sc. in Computer Science at Tel Aviv University, with the latter advised by Dan Halperin.

Contact me


  • Jan 2023: Awarded a scholarship by the Shlomo Meltzer Institute for Smart Transportation
  • Jan 2023: Paper "Coordination of Multiple Robots along Given Paths with Bounded Junction Complexity" was accepted to AAMAS 2023
  • Dec 2022: Received the Dean's teaching excellence award
  • Sep 2022: Awarded a scholarship by The Israeli Smart Transportation Research Center
  • Aug 2022: Awarded a scholarship by the Shashua Family Foundation Scholarship Fund
  • Aug 2022: Paper "Multi-Robot Motion Planning for Unit Discs with Revolving Areas" was accepted to ISAAC 2022

Selected Projects




  • Pankaj K. Agarwal, Tzvika Geft, Dan Halperin, Erin Taylor
    Multi-Robot Motion Planning for Unit Discs with Revolving Areas
    In 33rd International Symposium on Algorithms and Computation (ISAAC 2022)
  • [arXiv]

  • Tzvika Geft and Dan Halperin
    Refined Hardness of Distance-Optimal Multi-Agent Path Finding
    In 21st International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2022)
  • [ACM] [arXiv] [video]

  • Prosenjit Bose, Efi Fogel, Tzvika Geft, Dan Halperin, and Shahar Shamai
    Optimal Algorithms for Separating a Polyhedron from Its Single-Part Mold
    Under review
  • [arXiv]

  • Pankaj K. Agarwal, Boris Aronov, Tzvika Geft, and Dan Halperin
    On Two-Handed Planar Assembly Partitioning with Connectivity Constraints
    In 2021 ACM-SIAM Symposium on Discrete Algorithms (SODA 2021)
  • [SODA] [arXiv]
    Videos: [25 minute summary] [Extended talk on algorithmic results] [Extended talk on hardness]

  • Tzvika Geft, Aviv Tamar, Ken Goldberg, Dan Halperin
    Robust 2D Assembly Sequencing via Geometric Planning with Learned Scores
    In 2019 IEEE International Conference on Automation Science and Engineering (CASE 2019)
  • [IEEE Xplore] [arXiv]


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