Guni's thesis research focused on two complicated variants of the path finding problem on an explicitly given graph: (1) multiagent path-finding where paths should be assigned to multiple agents, each with a unique start and goal vertices such that the paths do not overlap and (2) real-time agent-centered where a single agent must physically find its way from start to goal while utilizing a bounded amount of time and memory prior to performing each physical step. These days Guni is working towards integrating his past research into real time traffic management of autonomous vehicles.