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Click here for Keisuke's personal webpage.
- A. Moldagalieva, K. Okumura, A. Prorok and W. Hoenig. db-LaCAM: Fast and Scalable Multi-Robot Kinodynamic Motion Planning with Discontinuity-Bounded Search and Lightweight MAPF. In International Conference on Automated Planning and Scheduling (ICAPS), 738-746, 2026.
- T. Suzuki and K. Okumura. Polynomial-time Configuration Generator for Connected Unlabeled Multi-Agent Pathfinding. In International Conference on Automated Planning and Scheduling (ICAPS), 323-331, 2026.
- R. Jain, K. Okumura, M. Amir, P. Lio and A. Prorok. Pairwise is Not Enough: Hypergraph Neural Networks for Multi-Agent Pathfinding. In International Conference on Learning Representations (ICLR), 2026.
- K. Okumura, G. Yang, Z. Gao, H. Woo and A. Prorok. Concrete Multi-Agent Path Planning Enabling Kinodynamically Aggressive Maneuvers. npj Robotics, 4, 20, 2026.
- T. Arita and K. Okumura. Local Guidance for Configuration-Based Multi-Agent Pathfinding. In AAAI Conference on Artificial Intelligence (AAAI), 29296-29304, 2026.
- R. Jain, K. Okumura, M. Amir and A. Prorok. Graph Attention-Guided Search for Dense Multi-Agent Pathfinding. In AAAI Conference on Artificial Intelligence (AAAI), 29504-29512, 2026.
- T. Kato, K. Okumura, Y. Sasaki and N. Yokomachi. Congestion Mitigation Path Planning for Large-Scale Multi-Agent Navigation in Dense Environments. IEEE Robotics and Automation Letters, 9742-9749, 2025.
- K. Okumura and H. Nagai. Lightweight and Effective Preference Construction in PIBT for Large-Scale Multi-Agent Pathfinding. In International Symposium on Combinatorial Search (SoCS), 110-117, 2025.
- K. Okumura. Engineering LaCAM*: Towards Real-Time, Large-Scale, and Near-Optimal Multi-Agent Pathfinding. In International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 1501-1509, 2024.
- J.M. Alkazzi and K. Okumura. A Comprehensive Review on Leveraging Machine Learning for Multi-Agent Path Finding. IEEE Access, 12, 57390-57409, 2024.
- K. Okumura. Improving LaCAM for Scalable Eventually Optimal Multi-Agent Pathfinding. In International Joint Conference on Artificial Intelligence (IJCAI), 243-251, 2023.
- K. Okumura and X. Defago. Quick Multi-Robot Motion Planning by Combining Sampling and Search. In International Joint Conference on Artificial Intelligence (IJCAI), 252-261, 2023.
- K. Okumura, F. Bonnet, Y. Tamura and X. Defago. Offline Time-Independent Multiagent Path Planning. IEEE Transactions on Robotics, 39, (4), 2720-2737, 2023.
- K. Okumura and X. Defago. Solving Simultaneous Target Assignment and Path Planning Efficiently with Time-Independent Execution. Artificial Intelligence, 321, 103946, 2023.
- K. Okumura. LaCAM: Search-Based Algorithm for Quick Multi-Agent Pathfinding. In Proceedings of AAAI Conference on Artificial Intelligence (AAAI), 11655-11662, 2023.
- K. Okumura and S. Tixeuil. Fault-Tolerant Offline Multi-Agent Path Planning. In Proceedings of AAAI Conference on Artificial Intelligence (AAAI), 11647-11654, 2023.
- K. Okumura, M. Machida, X. Defago and Y. Tamura. Priority Inheritance with Backtracking for Iterative Multi-agent Path Finding. Artificial Intelligence, 310, 103752, 2022.
- K. Okumura, R. Yonetani, M. Nishimura and A. Kanezaki. CTRMs: Learning to Construct Cooperative Timed Roadmaps for Multi-Agent Path Planning in Continuous Spaces. In Proceedings of International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 972-981, 2022.
- K. Okumura, Y. Tamura and X. Defago. Iterative Refinement for Real-Time Multi-Robot Path Planning. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 9690-9697, 2021.
- K. Okumura, Y. Tamura and X. Defago. Time-Independent Planning for Multiple Moving Agents. In AAAI Conference on Artificial Intelligence (AAAI), 11299-11307, 2021.
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