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Y. Livne, D. Atzmon, S. Skyler, E. Boyarski, A. Shapiro and A. Felner. Optimally Solving the Multiple Watchman Route Problem with Heuristic Search. In Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 905-913, 2023.
J. Morag, A. Felner, R. Stern, D. Atzmon and E. Boyarski. Online Multi-Agent Path Finding: New Results. In Proceedings of the Symposium on Combinatorial Search (SoCS), 229-233, 2022.
P. Surynek, R. Stern, E. Boyarski and A. Felner. Migrating Techniques from Search-Based Multi-Agent Path Finding Solvers to SAT-Based Approach. Journal of Artificial Intelligence Research (JAIR), 73, 553-618, 2022.
E. Boyarski, A. Felner, P. Le Bodic, D. Harabor, P. Stuckey and S. Koenig. f-Aware Conflict Prioritization & Improved Heuristics for Conflict-Based Search. In Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 12241-12248, 2021.
E. Boyarski, A. Felner, P. Le Bodic, D. Harabor, P. Stuckey and S. Koenig. Further Improved Heuristics for Conflict-Based Search [Doctoral Dissertation Abstract]. In Proceedings of the Symposium on Combinatorial Search (SoCS), 213-215, 2021.
T. Walker, N. Sturtevant, A. Felner, H. Zhang, J. Li and S. Kumar. Conflict-Based Increasing Cost Search. In Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 385-395, 2021.
D. Atzmon, S. Freiman, O. Epshtein, O. Shichman and A. Felner. Conflict-Free Multi-Agent Meeting. In Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 16-24, 2021.
E. Boyarski, A. Felner, D. Harabor, P. Stuckey, L. Cohen, J. Li and S. Koenig. Iterative-Deepening Conflict-Based Search. In Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), (in print), 2020.
D. Atzmon, R. Stern, A. Felner, N. Sturtevant and S. Koenig. Probabilistic Robust Multi-Agent Path Finding. In Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), (in print), 2020.
J. Li, K. Sun, H. Ma, A. Felner, S. Kumar and S. Koenig. Moving Agents in Formation in Congested Environments. In Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), (in print), 2020.
T. Walker, N. Sturtevant and A. Felner. Generalized and Sub-Optimal Bipartite Constraints for Conflict-Based Search. In Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 7277-7284, 2020.
D. Atzmon, R. Stern, A. Felner, G. Wagner, R. Bartak and N.-F. Zhou. Robust Multi-Agent Path Finding and Executing. Journal of Artificial Intelligence Research (JAIR), 67, 549-579, 2020.
D. Atzmon, Y. Zax, E. Kivity, L. Avitan, J. Morag and A. Felner. Generalizing Multi-Agent Path Finding for Heterogeneous Agents. In Proceedings of the Symposium on Combinatorial Search (SoCS), 101-105, 2020.
J. Li, A. Felner, E. Boyarski, H. Ma and S. Koenig. Improved Heuristics for Multi-Agent Path Finding with Conflict-Based Search. In Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), (in print), 2019.
R. Stern, N. Sturtevant, A. Felner, S. Koenig, H. Ma, T. Walker, J. Li, D. Atzmon, L. Cohen, S. Kumar, E. Boyarski and R. Bartak. Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks [Position Paper]. In Proceedings of the Symposium on Combinatorial Search (SoCS), (in print), 2019.
J. Li, P. Surynek, A. Felner, H. Ma, S. Kumar and S. Koenig. Multi-Agent Path Finding for Large Agents. In Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), (in print), 2019.
J. Li, D. Harabor, P. Stuckey, A. Felner, H. Ma and S. Koenig. Disjoint Splitting for Multi-Agent Path Finding with Conflict-Based Search. In Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), (in print), 2019.
H. Ma, G. Wagner, A. Felner, J. Li, S. Kumar and S. Koenig. Multi-Agent Path Finding with Deadlines. In Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), 417-423, 2018.
L. Cohen, M. Greco, H. Ma, C. Hernandez, A. Felner, S. Kumar and S. Koenig. Anytime Focal Search with Applications. In Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), 1434-1441, 2018.
A. Felner, J. Li, E. Boyarski, H. Ma, L. Cohen, S. Kumar and S. Koenig. Adding Heuristics to Conflict-Based Search for Multi-Agent Path Finding. In Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 83-87, 2018.
H. Ma, G. Wagner, A. Felner, J. Li, S. Kumar and S. Koenig. Multi-Agent Path Finding with Deadlines: Preliminary Results. In Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2004-2006, 2018.
P. Surynek, A. Felner, R. Stern and E. Boyarski. Sub-Optimal SAT-Based Approach to Multi-Agent Path-Finding Problem. In Proceedings of the Symposium on Combinatorial Search (SoCS), 90-105, 2018.
T. Walker, N. Sturtevant and A. Felner. Extended Increasing Cost Tree Search for Non-Unit Cost Domains. In Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), 534-540, 2018.
P. Surynek, J. Svancara, A. Felner and E. Boyarski. Integration of Independence Detection into SAT-Based Optimal Multi-Agent Path Finding - A Novel SAT-based Optimal MAPF Solver. In Proceedings of the International Conference on Agents and Artificial Intelligence (ICAART), 85-95, 2017.
P. Surynek, J. Svancara, A. Felner and E. Boyarski. Variants of Independence Detection in SAT-Based Optimal Multi-Agent Path Finding. In Proceedings of the International Conference on Agents and Artificial Intelligence (ICAART), 116-136, 2017.
A. Felner, R. Stern, E. Shimony, M. Goldenberg, G. Sharon, N. Sturtevant, G. Wagner and P. Surynek. Search-Based Optimal Solvers for the Multi-Agent Pathfinding Problem: Summary and Challenges. In Proceedings of the Symposium on Combinatorial Search (SoCS), 28-37, 2017.
D. Atzmon, A. Felner, R. Stern, G. Wagner, R. Bartak and N. Zhou. k-Robust Multi-Agent Path Finding. In Proceedings of the Symposium on Combinatorial Search (SoCS), 157-158, 2017.
P. Surynek, A. Felner, R. Stern and E. Boyarski. Modifying Optimal SAT-Based Approach to Multi-Agent Path-Finding Problem to Suboptimal Variants. In Proceedings of the Symposium on Combinatorial Search (SoCS), 169-170, 2017.
P. Surynek, A. Felner, R. Stern and E. Boyarski. Boolean Satisfiability Approach to Optimal Multi-Agent Path Finding under the Sum of Costs Objective. In Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 1435-1436, 2016.
P. Surynek, A. Felner, R. Stern and E. Boyarski. Efficient SAT Approach to Multi-Agent Path Finding Under the Sum of Costs Objective. In Proceedings of the European Conference on Artificial Intelligence (ECAI), 810-818, 2016.
P. Surynek, A. Felner, R. Stern and E. Boyarski. An Empirical Comparison of the Hardness of Multi-Agent Path Finding under the Makespan and the Sum of Costs Objectives. In Proceedings of the Symposium on Combinatorial Search (SoCS), 145-147, 2016.
G. Sharon, R. Stern, A. Felner and N. Sturtevant. Conflict-Based Search for Optimal Multi-Agent Pathfinding. Artificial Intelligence, 219, 40-66, 2015.
E. Boyarski, A. Felner, G. Sharon and R. Stern. Don't Split, Try To Work It Out: Bypassing Conflicts in Multi-Agent Pathfinding. In Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 47-51, 2015.
E. Boyarski, A. Felner, R. Stern, G. Sharon, O. Betzalel, D. Tolpin and E. Shimony. ICBS: The Improved Conflict-Based Search Algorithm for Multi-Agent Pathfinding. In Proceedings of the Symposium on Combinatorial Search (SoCS), 223-225, 2015.
Z. Bnaya and A. Felner. Conflict-Oriented Windowed Hierarchical Cooperative A*. In Proceedings of the International Conference on Robotics and Automation (ICRA), 3743-3748, 2014.
M. Barer, G. Sharon, R. Stern and A. Felner. Suboptimal Variants of the Conflict-Based Search Algorithm for the Multi-Agent Pathfinding Problem. In Proceedings of the European Conference on Artificial Intelligence (ECAI), 961-962, 2014.
G. Sharon, R. Stern, M. Goldenberg and A. Felner. The Increasing Cost Tree Search for Optimal Multi-Agent Pathfinding. 470-495, 2013.
Z. Bnaya, R. Stern, A. Felner, R. Zivan and S. Okamoto. Multi-Agent Path Finding for Self Interested Agents. In Proceedings of the Symposium on Combinatorial Search (SoCS), 2013.
M. Goldenberg, A. Felner, R. Stern, G. Sharon and J. Schaeffer. A* Variants for Optimal Multi-Agent Pathfinding. In AAAI-12 Workshop on Multi-Agent Pathfinding, 2012.
G. Sharon, R. Stern, A. Felner and N. Sturtevant. Meta-Agent Conflict-Based Search For Optimal Multi-Agent Path Finding. In Proceedings of the Symposium on Combinatorial Search (SoCS), 2012.
G. Sharon, R. Stern, A. Felner and N. Sturtevant. Conflict-Based Search for Optimal Multi-Agent Path Finding. In Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 2012.
G. Sharon, R. Stern, A. Felner and N. Sturtevant. The Increasing Cost Tree Search for Optimal Multi-Agent Pathfinding. In Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), 662-667, 2011.
G. Sharon, R. Stern, M. Goldenberg and A. Felner. Pruning Techniques for the Increasing Cost Tree Search for Optimal Multi-Agent Pathfinding. In Proceedings of the Symposium on Combinatorial Search (SoCS), 2011.