mapf.info | Main / All Publications by Year

We are listing the publications of the participants of the joint NSF-BSF project "NSF-BSF:RI:Small:Collaborative Research:Next-Generation Multi-Agent Path Finding Algorithms" and the publications of their collaborators. You can download the bibtex file for all publications. The bibtex entries in that file include the meta information needed to generate all mapf.info publication pages automatically but can also be used with LaTex to generate the bibliographies for publications.

2025

T. Phan, B. Zhang, S.-H. Chan and S. Koenig. Anytime Multi-Agent Path Finding with an Adaptive Delay-Based Heuristic. In AAAI Conference on Artificial Intelligence (AAAI), (in print), 2025.
J. Liang, J. Christopher, S. Koenig and F. Fioretto. Multi-Agent Path Finding in Continuous Spaces with Projected Diffusion Models. In AAAI-25 Workshop on Multi-Agent Path Finding, (in print), 2025.
Y. Wang, T. Duhan, J. Li and G. Sartoretti. LNS2+RL: Combining Multi-Agent Reinforcement Learning with Large Neighborhood Search in Multi-Agent Path Finding. In AAAI Conference on Artificial Intelligence (AAAI), 2025.
S. Zhou, S. Zhao and Z. Ren. Loosely Synchronized Rule-Based Planning for Multi-Agent Path Finding with Asynchronous Actions. In AAAI Conference on Artificial Intelligence (AAAI), (in print), 2025.
H. Jiang, M. Lin and J. Li. Speedup Techniques for Switchable Temporal Plan Graph Optimization. In AAAI Conference on Artificial Intelligence (AAAI), (in print), 2025.
H. Zang, Y. Zhang, H. Jiang, Z. Chen, D. Harabor, P. Stuckey and J. Li. Online Guidance Graph Optimization for Lifelong Multi-Agent Path Finding. In AAAI Conference on Artificial Intelligence (AAAI), (in print), 2025.
J. Yan and J. Li. Multi-Agent Motion Planning for Differential Drive Robots Through Stationary State Search. In AAAI Conference on Artificial Intelligence (AAAI), (in print), 2025.
R. Veerapaneni, M. S. Saleem, J. Li and M. Likhachev. Windowed MAPF with Completeness Guarantees. In AAAI Conference on Artificial Intelligence (AAAI), (in print), 2025.

2024

T. Huang. Improving Decision-Making in Search Algorithms for Combinatorial Optimization with Machine Learning. PhD thesis, Department of Computer Science, University of Southern California, Los Angeles (California), 2024.
T. Phan, T. Huang, B. Dilkina and S. Koenig. Adaptive Anytime Multi-Agent Path Finding Using Bandit-Based Large Neighborhood Search. In AAAI Conference on Artificial Intelligence (AAAI), (in print), 2024.
T. Phan, J. Driscoll, J. Romberg and S. Koenig. Confidence-Based Curriculum Learning for Multi-Agent Path Finding. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), (in print), 2024.
S.-H. Chan, Z. Chen, D.-L. Lin, Y. Zhang, D. Harabor, S. Koenig, T.-W. Huang and T. Phan. Anytime Multi-Agent Path Finding Using Operation Parallelism in Large Neighborhood Search. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), (in print), 2024.
F. Wang, H. Zhang, S. Koenig and J. Li. Efficient Approximate Search for Multi-Objective Multi-Agent Path Finding. In International Conference on Automated Planning and Scheduling (ICAPS), (in print), 2024.
J. Ren, E. Ewing, S. Kumar, S. Koenig and N. Ayanian. Map Connectivity and Empirical Hardness of Grid-Based Multi-Agent Pathfinding Problem. In International Conference on Automated Planning and Scheduling (ICAPS), (in print), 2024.
S.-H. Chan, Z. Chen, T. Guo, H. Zhang, Y. Zhang, D. Harabor, S. Koenig, C. Wu and J. Yu. The League of Robot Runners: Competition Goals, Designs, and Implementation [System Demonstration]. In International Conference on Automated Planning and Scheduling (ICAPS), (in print), 2024.
L. Heuer, L. Palmieri, A. Mannucci, S. Koenig and M. Magnusson. Benchmarking Multi-Robot Coordination in Realistic, Unstructured Human-Shared Environments. In IEEE International Conference on Robotics and Automation (ICRA), (in print), 2024.
P. Surynek, Y. Zheng, E. Kline, S. Koenig and S. Kumar. Virtual Network Embedding as Boolean Satisfiability. In IEEE International Conference on Tools with Artificial Intelligence (ICTAI), 387-395, 2024.
Y. Tang, S. Koenig and J. Li. ITA-ECBS: A Bounded-Suboptimal Algorithm for the Combined Target-Assignment and Path-Finding Problem. In Symposium on Combinatorial Search (SoCS), (in print), 2024.
G. Mouratidis, B. Nebel and S. Koenig. Fools Rush in Where Angels Fear to Tread in Multi-Goal CBS. In Symposium on Combinatorial Search (SoCS), (in print), 2024.
E. Lam, P. Stuckey and D. Harabor. Optimal Multi-Agent Pickup and Delivery Using Branch-and-Cut-and-Price Algorithms. Transportation Science, (in print), 2024.
J. Kottinger, T. Geft, S. Almagor, O. Salzman and M. Lahijanian. Introducing Delays in Multi Agent Path Finding. In Symposium on Combinatorial Search (SoCS), 2024.
J. Morag, Y. Zhang, D. Koyfman, Z. Chen, A. Felner, D. Harabor and R. Stern. Prioritised Planning with Guarantees. In International Symposium on Combinatorial Search (SoCS), 82-90, 2024.
Y. Zhang, Z. Chen, D. Harabor, P. Le Bodic and P.J. Stuckey. Planning and Execution in Multi-Agent Path Finding: Models and Algorithms. In International Conference on Automated Planning and Scheduling (ICAPS), 2024.
C. He, T. Yang, T. Duhan, Y. Wang and G. Sartoretti. ALPHA: Attention-Based Long-Horizon Pathfinding in Highly-Structured Areas. In IEEE International Conference on Robotics and Automation (ICRA), 2024.
Y. Yang, M. Fan, C. He, J. Wang, H. Huang and G. Sartoretti. Attention-Based Priority Learning for Limited Time Multi-Agent Path Finding. 2024.
Z. Ren, Y. Cai and H. Wang. Multi-Agent Teamwise Cooperative Path Finding and Traffic Intersection Coordination. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 7990-7995, 2024.
Z. Ren, S. Rathinam and H. Choset. A Bounded Sub-Optimal Approach for Multi-Agent Combinatorial Path Finding. IEEE Transactions on Automation Science and Engineering, 1-16, 2024.
Z. Ren, A. Nandy, S. Rathinam and H. Choset. DMS*: Towards Minimizing Makespan for Multi-Agent Combinatorial Path Finding. IEEE Robotics and Automation Letters, 9, (9), 7987-7994, 2024.
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.
Y. Zhang, H. Jiang, V. Bhatt, S. Nikolaidis and J. Li. Guidance Graph Optimization for Lifelong Multi-Agent Path Finding. In International Joint Conference on Artificial Intelligence (IJCAI), 311-320, 2024.
P. Friedrich, Y. Zhang, M. Curry, L. Dierks, S. McAleer, J. Li, T. Sandholm and S. Seuken. Scalable Mechanism Design for Multi-Agent Path Finding. In International Joint Conference on Artificial Intelligence (IJCAI), 58-66, 2024.
H. Jiang, Y. Zhang, R. Veerapaneni and J. Li. Scaling Lifelong Multi-Agent Path Finding to More Realistic Settings: Research Challenges and Opportunities. In International Symposium on Combinatorial Search (SoCS), 234-242, 2024.
Y. Shaoul, R. Veerapaneni, M. Likhachev and J. Li. Unconstraining Multi-Robot Manipulation: Enabling Arbitrary Constraints in ECBS with Bounded Sub-Optimality. In International Symposium on Combinatorial Search (SoCS), 109-117, 2024.
Y. Feng, A. Paul, Z. Chen and J. Li. A Real-Time Rescheduling Algorithm for Multi-robot Plan Execution. In International Conference on Automated Planning and Scheduling (ICAPS), 201-209, 2024.
Q. Wang, R. Veerapaneni, Y. Wu, J. Li and M. Likhachev. MAPF in 3D Warehouses: Dataset and Analysis. In International Conference on Automated Planning and Scheduling (ICAPS), 623-632, 2024.
R. Veerapaneni, Q. Wang, K. Ren, A. Jakobsson, J. Li and M. Likhachev. Improving Learnt Local MAPF Policies with Heuristic Search. In International Conference on Automated Planning and Scheduling (ICAPS), 597-606, 2024.
Y. Shaoul, I. Mishani, M. Likhachev and J. Li. Accelerating Search-Based Planning for Multi-Robot Manipulation by Leveraging Online-Generated Experiences. In International Conference on Automated Planning and Scheduling (ICAPS), 523-531, 2024.
J. Yan and J. Li. Multi-Agent Motion Planning With Bezier Curve Optimization Under Kinodynamic Constraints. IEEE Robotics and Automation Letters, 9, (3), 3021-3028, 2024.
Y. Su, R. Veerapaneni and J. Li. Bidirectional Temporal Plan Graph: Enabling Switchable Passing Orders for More Efficient Multi-Agent Path Finding Plan Execution. In AAAI Conference on Artificial Intelligence (AAAI), 17559-17566, 2024.
Z. Chen, D. Harabor, J. Li and P. Stuckey. Traffic Flow Optimisation for Lifelong Multi-Agent Path Finding. In AAAI Conference on Artificial Intelligence (AAAI), 20674-20682, 2024.
A. Pertzovsky, R. Stern and R. Zivan. CGA: Corridor Generating Algorithm for Multi-Agent Environments. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 3455-3462, 2024.
K. Yakovlev, A. Andreychuk and R. Stern. Optimal and Bounded Suboptimal Any-Angle Multi-Agent Pathfinding. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 7996-8001, 2024.
N. Malka, G. Shani and R. Stern. Online Planning for Multi Agent Path Finding in Inaccurate Maps. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 10214-10221, 2024.
E. Cizl, J. Svancara and R. Bartak. The Effectiveness of Autonomous Intersections in a City. In International Florida Artificial Intelligence Research Society Conference (FLAIRS), 2024.
J. Mestek and R. Bartak. Multi-Agent Path Finding: Policies Instead of Plans. In International Conference on Agents and Artificial Intelligence (ICAART), 95-104, 2024.

2023

D. Atzmon, A. Felner, J. Li, S. Shperberg, N. Sturtevant and S. Koenig. Conflict-Tolerant and Conflict-Free Multi-Agent Meeting. Artificial Intelligence, 314, 103950, 2023.
J. Li, T. Hoang, E. Lin, H. Vu and S. Koenig. Intersection Coordination with Priority-Based Search for Autonomous Vehicles. In AAAI Conference on Artificial Intelligence (AAAI), 2023.
Z. Ren, J. Li, H. Zhang, S. Koenig, S. Rathinam and H. Choset. Binary Branching Multi-Objective Conflict-Based Search for Multi-Agent Path Finding. In International Conference on Automated Planning and Scheduling (ICAPS), 2023.
Y. Zheng, H. Ma, S. Koenig, E. Kline and S. Kumar. Priority-Based Search for the Virtual Network Embedding Problem. In International Conference on Automated Planning and Scheduling (ICAPS), 2023.
T. Huang, V. Shivashankar, M. Caldara, J. Durham, J. Li, B. Dilkina and S. Koenig. Deadline-Aware Multi-Agent Tour Planning. In International Conference on Automated Planning and Scheduling (ICAPS), 2023.
Y. Zheng, S. Ravi, E. Kline, L. Thurlow, S. Koenig and S. Kumar. Improved Conflict-Based Search for the Virtual Network Embedding Problem. In International Conference on Computer Communications and Networks (ICCCN), 2023.
C. Leet, C. Oh, M. Lora, S. Koenig and P. Nuzzo. Task Assignment, Scheduling, and Motion Planning for Automated Warehouses for Million Product Workloads. In IEEE International Conference on Intelligent Robots and Systems (IROS), 2023.
C. Leet, C. Oh, M. Lora, S. Koenig and P. Nuzzo. Co-Design of Topology, Scheduling, and Path Planning in Automated Warehouses. In Design, Automation and Test in Europe Conference (DATE), 2023.
S. Schaefer, L. Palmieri, L. Heuer, R. Dillmann, S. Koenig and A. Kleiner. A Benchmark for Multi-Robot Planning in Realistic, Complex and Cluttered Environments. In IEEE International Conference on Robotics and Automation (ICRA), 2023.
S. Wang, V. Bulitko, T. Huang, S. Koenig and R. Stern. Synthesizing Priority Planning Formulae for Multi-Agent Pathfinding. In Artificial Intelligence and Interactive Digital Entertainment Conference (AIIDE), 360-369, 2023.
S.-H. Chan, R. Stern, A. Felner and S. Koenig. Greedy Priority-Based Search for Suboptimal Multi-Agent Path Finding. In Symposium on Combinatorial Search (SoCS), 2023.
W. Chen, Z. Wang, J. Li, S. Koenig and B. Dilkina. No Panacea in Planning: Algorithm Selection for Suboptimal Multi-Agent Path Finding. In AAAI-23 Workshop on Multi-Agent Path Finding, 2023.
D. Vainshtein, Y. Sherma, K. Solovey and O. Salzman. Multi-Agent Terraforming: Efficient Multi-Agent Path Finding via Environment Manipulation. In Symposium on Combinatorial Search (SoCS), 2023.
Y. Wang, B. Xiang, S. Huang and G. Sartoretti. SCRIMP: Scalable Communication for Reinforcement- and Imitation-Learning-Based Multi-Agent Pathfinding [Extended Abstract]. 2023.
Y. Wang, B. Xiang, S. Huang and G. Sartoretti. SCRIMP: Scalable Communication for Reinforcement- and Imitation-Learning-Based Multi-Agent Pathfinding [Extended Abstract]. In IEEE International Conference on Intelligent Robots and Systems (IROS), 2023.
Z. Ren, S. Rathinam and H. Choset. A Conflict-Based Search Framework for Multiobjective Multiagent Path Finding. IEEE Transactions on Automation Science and Engineering, 20, (2), 1262-1274, 2023.
Z. Ren, S. Rathinam and H. Choset. CBSS: A New Approach for Multiagent Combinatorial Path Finding. IEEE Transactions on Robotics, 39, (4), 2669-2683, 2023.
Z. Ren, C. Zhang, S. Rathinam and H. Choset. Search Algorithms for Multi-Agent Teamwise Cooperative Path Finding. In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 1407-1413, 2023.
A. Paul, Y. Feng and J. Li. A Fast Rescheduling Algorithm for Real-Time Multi-Robot Coordination. In Symposium on Combinatorial Search (SoCS), 2023.
B. Li and H. Ma. Double-Deck Multi-Agent Pickup and Delivery: Multi-Robot Rearrangement in Large-Scale Warehouses. IEEE Robotics and Automation Letters, 8, (6), 3701-3708, 2023.
A. Natan, R. Stern and M. Kalech. Blame Attribution for Multi-Agent Pathfinding Execution Failures. In International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2358-2360, 2023.
B. Shofer, G. Shani and R. Stern. Multi Agent Path Finding under Obstacle Uncertainty. In International Conference on Automated Planning and Scheduling (ICAPS), 402-410, 2023.
J. Morag, R. Stern and A. Felner. Adapting to Planning Failures in Lifelong Multi-Agent Path Finding. In Symposium on Combinatorial Search (SOCS), 47-55, 2023.
D. Atzmon, S. Bernardini, F. Fagnani and D. Fairbairn. Exploiting Geometric Constraints in Multi-Agent Pathfinding. In International Conference on Automated Planning and Scheduling (ICAPS), 17-25, 2023.
Y. Livne, D. Atzmon, S. Skyler, E. Boyarski, A. Shapiro and A. Felner. Optimally Solving the Multiple Watchman Route Problem with Heuristic Search. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 905-913, 2023.
G. Fine, D. Atzmon and N. Agmon. Anonymous Multi-Agent Path Finding with Individual Deadlines. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 869-877, 2023.
P. Surynek. Candidate Path Selection Heuristics for Multi-Agent Path Finding: A Novel Compilation-Based Method. In International Conference on Agents and Artificial Intelligence (ICAART), 2023.
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.
E. Lam, D. Harabor, P. Stuckey and J. Li. Exact Anytime Multi-Agent Path Finding Using Branch-and-Cut-and-Price and Large Neighborhood Search. In International Conference on Automated Planning and Scheduling (ICAPS), 254-258, 2023.
B. Shen, Z. Chen, J. Li, M. A. Cheema, D. Harabor and P. Stuckey. Beyond Pairwise Reasoning in Multi-Agent Path Finding. In International Conference on Automated Planning and Scheduling (ICAPS), 384-392, 2023.
Y. Zhang, M. C. Fontaine, V. Bhatt, S. Nikolaidis and J. Li. Multi-Robot Coordination and Layout Design for Automated Warehousing. In International Joint Conference on Artificial Intelligence (IJCAI), 5503-5511, 2023.
Y. Zhang, M. C. Fontaine, V. Bhatt, S. Nikolaidis and J. Li. Arbitrarily Scalable Environment Generators via Neural Cellular Automata. In Conference on Neural Information Processing Systems (NeurIPS), 57212-57225, 2023.
Y. Tang, Z. Ren, J. Li and K. Sycara. Solving Multi-Agent Target Assignment and Path Finding with a Single Constraint Tree. In International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 8-14, 2023.
A. Natan, M. Kalech and R. Bartak. Diagnosis of Intermittent Faults in Multi-Agent Systems: An SFL Approach. Artificial Intelligence, 324, 103994, 2023.
J. Svancara, P. Obermeier, M. Husar, R. Bartak and T. Schaub. Multi-Agent Pathfinding on Large Maps Using Graph Pruning: This Way or That Way?. In International Conference on Agents and Artificial Intelligence (ICAART), 199-206, 2023.

2022

J. Li. Efficient and Effective Techniques for Large-Scale Multi-Agent Path Finding. PhD thesis, Department of Computer Science, University of Southern California, Los Angeles (California), 2022.
J. Li, Z. Chen, D. Harabor, P. Stuckey and S. Koenig. MAPF-LNS2: Fast Repairing for Multi-Agent Path Finding via Large Neighborhood Search. In AAAI Conference on Artificial Intelligence (AAAI), 2022.
C. Leet, J. Li and S. Koenig. Shard Systems: Scalable, Robust and Persistent Multi-Agent Path Finding with Performance Guarantees. In AAAI Conference on Artificial Intelligence (AAAI), 9386-9395, 2022.
T. Huang, J. Li, S. Koenig and B. Dilkina. Anytime Multi-Agent Path Finding via Machine Learning-Guided Large Neighborhood Search. In AAAI Conference on Artificial Intelligence (AAAI), 2022.
S.-H. Chan, J. Li, G. Gange, D. Harabor, P. Stuckey and S. Koenig. Flex Distribution for Bounded-Suboptimal Multi-Agent Path Finding. In AAAI Conference on Artificial Intelligence (AAAI), 2022.
Y. Zheng, S. Ravi, E. Kline, S. Koenig and S. Kumar. Conflict-Based Search for the Virtual Network Embedding Problem. In International Conference on Automated Planning and Scheduling (ICAPS), 2022.
H. Zhang, J. Chen, J. Li, B. Williams and S. Koenig. Multi-Agent Path Finding for Precedence-Constrained Goal Sequences. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 1464-1472, 2022.
X. Zhong, J. Li, S. Koenig and H. Ma. Optimal and Bounded-Suboptimal Multi-Goal Task Assignment and Path Finding. In IEEE International Conference on Robotics and Automation (ICRA), 2022.
S. Zhang, J. Li, T. Huang, S. Koenig and B. Dilkina. Learning a Priority Ordering for Prioritized Planning in Multi-Agent Path Finding. In Symposium on Combinatorial Search (SoCS), 2022.
S. Varambally, J. Li and S. Koenig. Which MAPF Model Works Best for Automated Warehousing?. In Symposium on Combinatorial Search (SoCS), 2022.
H. Zhang, Y. Li, J. Li, S. Kumar and S. Koenig. Mutex Propagation in Multi-Agent Path Finding for Large Agents. In Symposium on Combinatorial Search (SoCS), 2022.
H. Zhang, J. Li, P. Surynek, S. Kumar and S. Koenig. Multi-Agent Path Finding with Mutex Propagation. Artificial Intelligence, 311, 103766, 2022.
Q. Xu, J. Li, S. Koenig and H. Ma. Multi-Goal Multi-Agent Pickup and Delivery. In IEEE International Conference on Intelligent Robots and Systems (IROS), 9964-9971, 2022.
E. Boyarski, S.-H. Chan, D. Atzmon, A. Felner and S. Koenig. On Merging Agents in Multi-Agent Pathfinding Algorithms. In Symposium on Combinatorial Search (SoCS), 11-19, 2022.
Z. Chen, J. Li, D. Harabor, P. Stuckey and S. Koenig. Multi-Train Path Finding Revisited. In Symposium on Combinatorial Search (SoCS), 38-46, 2022.
N. Madar, K. Solovey and O. Salzman. Leveraging Experience in Lifelong Multi-Agent Pathfinding. In Symposium on Combinatorial Search (SoCS), (in print), 2022.
E. Lam, P. Le Bodic, D. Harabor and P. Stuckey. Branch-and-Cut-and-Price for Multi-Agent Path Finding. Computers and Operations Research, 2022.
H. Ma. Intelligent Planning for Large-Scale Multi-Agent Systems. AI Magazine, 43, (4), 376-382, 2022.
H. Ma. Graph-Based Multi-Robot Path Finding and Planning. Current Robotics Reports, 3, (3), 77-84, 2022.
J. Morag, A. Felner, R. Stern, D. Atzmon and E. Boyarski. Online Multi-Agent Path Finding: New Results. In Symposium on Combinatorial Search (SoCS), 229-233, 2022.
J. Kottinger, S. Almagor and M. Lahijanian. Conflict-Based Search for Explainable Multi-Agent Path Finding. In International Conference on Automated Planning and Scheduling (ICAPS), (in print), 2022.
P. Surynek. Problem Compilation for Multi-Agent Path Finding: A Survey. In International Joint Conference on Artificial Intelligence (IJCAI), 2022.
A. Andreychuk, K. Yakovlev, P. Surynek, D. Atzmon and R. Stern. Multi-Agent Pathfinding with Continuous Time. Artificial Intelligence, 305, 103662, 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.
Z. Ren, S. Rathinam and H. Choset. Conflict-Based Steiner Search for Multi-Agent Combinatorial Path Finding. In Proceedings of Robotics: Science and Systems, 2022.
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.
M. Husar, J. Svancara, P. Obermeier, R. Bartak and T. Schaub. Reduction-Based Solving of Multi-Agent Pathfinding on Large Maps Using Graph Pruning. In International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 624-632, 2022.
J. Svancara, M. Ivanova and R. Bartak. Coordinated Collision-Free Movement of Groups of Agents. In International Conference on Agents and Artificial Intelligence (ICAART), 26-33, 2022.
J. Svancara and R. Bartak. Tackling Train Routing via Multi-Agent Pathfinding and Constraint-Based Scheduling. In International Conference on Agents and Artificial Intelligence (ICAART), 306-313, 2022.

2021

J. Li, D. Harabor, P. Stuckey, H. Ma, G. Gange and S. Koenig. Pairwise Symmetry Reasoning for Multi-Agent Path Finding Search. Artificial Intelligence, 301, 103574, 2021.
J. Li, Z. Chen, D. Harabor, P. Stuckey and S. Koenig. Anytime Multi-Agent Path Finding via Large Neighborhood Search. In International Joint Conference on Artificial Intelligence (IJCAI), 4127-4135, 2021.
J. Li, W. Ruml and S. Koenig. EECBS: A Bounded-Suboptimal Search for Multi-Agent Path Finding. In AAAI Conference on Artificial Intelligence (AAAI), 12353-12362, 2021.
J. Li, A. Tinka, S. Kiesel, J. Durham, S. Kumar and S. Koenig. Lifelong Multi-Agent Path Finding in Large-Scale Warehouses. In AAAI Conference on Artificial Intelligence (AAAI), 11272-11281, 2021.
T. Huang, S. Koenig and B. Dilkina. Learning to Resolve Conflicts for Multi-Agent Path Finding with Conflict-Based Search. In AAAI Conference on Artificial Intelligence (AAAI), 11246-11253, 2021.
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 AAAI Conference on Artificial Intelligence (AAAI), 12241-12248, 2021.
T. Huang, B. Dilkina and S. Koenig. Learning Node-Selection Strategies in Bounded-Suboptimal Conflict-Based Search for Multi-Agent Path Finding. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 611-619, 2021.
J. Li, Z. Chen, Y. Zheng, S.-H. Chan, D. Harabor, P. Stuckey, H. Ma and S. Koenig. Scalable Rail Planning and Replanning: Winning the 2020 Flatland Challenge. In International Conference on Automated Planning and Scheduling (ICAPS), 477-485, 2021.
H. Zhang, N. Tiruviluamala, S. Koenig and S. Kumar. Temporal Reasoning with Kinodynamic Networks. In International Conference on Automated Planning and Scheduling (ICAPS), 415-425, 2021.
H. Zhang, M. Yao, Z. Liu, J. Li, L. Terr, S.-H. Chan, S. Kumar and S. Koenig. A Hierarchical Approach to Multi-Agent Path Finding. In ICAPS-21 Workshop on Hierarchical Planning (HPLAN), 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 Symposium on Combinatorial Search (SoCS), 213-215, 2021.
N. Greshler,, O. Gordon, O. Salzman and N. Shimkin. Cooperative Multi-Agent Path Finding: Beyond Path Planning and Collision Avoidance. In International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 20-28, 2021.
O. Gordon,, Y. Filmus, and O. Salzman. Revisiting the Complexity Analysis of Conflict-Based Search: New Computational Techniques and Improved Bounds. In Symposium on Combinatorial Search (SoCS), 64-72, 2021.
M. Damani, Z. Luo, E. Wenzel and G. Sartoretti. PRIMAL2: Pathfinding via Reinforcement and Imitation Multi-Agent Learning - Lifelong. IEEE Robotics and Automation Letters, 6, (2), 2666-2673, 2021.
Z. Ma, Y. Luo and H. Ma. Distributed Heuristic Multi-Agent Path Finding with Communication. In IEEE International Conference on Robotics and Automation (ICRA), 8699-8705, 2021.
H. Ma. A Competitive Analysis of Online Multi-Agent Path Finding. In International Conference on Automated Planning and Scheduling (ICAPS), 234-242, 2021.
T. Shahar, S. Shekhar, D. Atzmon, A. Saffidine, B. Juba and R. Stern. Safe Multi-Agent Pathfinding with Time Uncertainty. Journal of Artificial Intelligence Research (JAIR), 70, 923-954, 2021.
J. Chudy and P. Surynek. ESO-MAPF: Bridging Discrete Planning and Continuous Execution in Multi-Agent Pathfinding. In AAAI Conference on Artificial Intelligence (AAAI), 2021.
T. Walker, N. Sturtevant, A. Felner, H. Zhang, J. Li and S. Kumar. Conflict-Based Increasing Cost Search. In International Conference on Automated Planning and Scheduling (ICAPS), 385-395, 2021.
J. Kottinger, S. Almagor and M. Lahijanian. MAPS-X: Explainable Multi-Robot Motion Planning via Segmentation. In International Conference on Robotics and Automation (ICRA), 7994-8000, 2021.
P. Surynek. Sum of Costs Optimal Multi-Agent Path Finding with Continuous Time via Satisfiability Modulo Theories. In International Symposium on Combinatorial Search (SoCS), 200-202, 2021.
P. Surynek. Sparsification for Fast Optimal Multi-Robot Path Planning in Lazy Compilation Schemes. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
P. Surynek. Multi-Goal Multi-Agent Path Finding via Decoupled and Integrated Goal Vertex Ordering. In AAAI Conference on Artificial Intelligence (AAAI), 12409-12417, 2021.
P. Surynek. Conceptual Comparison of Compilation-Based Solvers for Multi-Agent Path Finding: MIP vs. SAT. In Fourteenth International Symposium on Combinatorial Search (SoCS), 203-205, 2021.
P. Surynek. Multi-Goal Multi-Agent Path Finding via Decoupled and Integrated Goal Vertex Ordering. In International Symposium on Combinatorial Search (SoCS), 197-199, 2021.
M. Capek and P. Surynek. DPLL(MAPF): an Integration of Multi-Agent Path Finding and SAT Solving Technologies. In International Symposium on Combinatorial Search (SoCS), 153-155, 2021.
M. Ivanova and P. Surynek. Adversarial Multi-Agent Path Finding is Intractable. In International Conference on Tools with Artificial Intelligence (ICTAI), 481-486, 2021.
P. Surynek. Sparse Real-Time Decision Diagrams for Continuous Multi-Robot Path Planning. In International Conference on Tools with Artificial Intelligence (ICTAI), 91-96, 2021.
K. Janovska and P. Surynek. Hierarchical Control of Swarms during Evacuation. In International Joint Conference on Knowledge Discovery, Knowledge Engineering and Knowledge Management (KEOD), 61-73, 2021.
Z. Ren, S. Rathinam and H. Choset. Multi-Objective Conflict-Based Search for Multi-Agent Path Finding. In International Conference on Robotics and Automation (ICRA), 8786-8791, 2021.
Z. Ren, S. Rathinam and H. Choset. MS*: A New Exact Algorithm for Multi-agent Simultaneous Multi-Goal Sequencing and Path Finding. In International Conference on Robotics and Automation (ICRA), 11560-11565, 2021.
Z. Ren, S. Rathinam and H. Choset. Subdimensional Expansion for Multi-Objective Multi-Agent Path Finding. IEEE Robotics and Automation Letters, 6, (4), 7153-7160, 2021.
Z. Ren, S. Rathinam and H. Choset. Loosely Synchronized Search for Multi-Agent Path Finding with Asynchronous Actions. In International Conference on Intelligent Robots and Systems (IROS), 9714-9719, 2021.
J. Chen, J. Li, C. Fan and B. Williams. Scalable and Safe Multi-Agent Motion Planning with Nonlinear Dynamics and Bounded Disturbances. In AAAI Conference on Artificial Intelligence (AAAI), 11237-11245, 2021.
D. Atzmon, S. Freiman, O. Epshtein, O. Shichman and A. Felner. Conflict-Free Multi-Agent Meeting. In International Conference on Automated Planning and Scheduling (ICAPS), 16-24, 2021.
Z. Chen, D. Harabor, J. Li and P. Stuckey. Symmetry Breaking for k-Robust Multi-Agent Path Finding. In AAAI Conference on Artificial Intelligence (AAAI), 12267-12274, 2021.
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.
R. Bartak, M. Ivanova and J. Svancara. Colored Multi-Agent Path Finding: Solving Approaches. In International Florida Artificial Intelligence Research Society Conference (FLAIRS), 2021.
M. Nekvinda and R. Bartak. Contingent Planning for Robust Multi-Agent Path Finding. In IEEE International Conference on Tools with Artificial Intelligence (ICTAI), 487-492, 2021.

2020

H. Ma. Target Assignment and Path Planning for Navigation Tasks with Teams of Agents. PhD thesis, Department of Computer Science, University of Southern California, Los Angeles (California), 2020.
E. Boyarski, A. Felner, D. Harabor, P. Stuckey, L. Cohen, J. Li and S. Koenig. Iterative-Deepening Conflict-Based Search. In International Joint Conference on Artificial Intelligence (IJCAI), (in print), 2020.
G. Belov, W. Du, M. Garcia de la Banda, D. Harabor, S. Koenig and X. Wei. From Multi-Agent Pathfinding to 3D Pipe Routing. In Symposium on Combinatorial Search (SoCS), (in print), 2020.
J. Li, G. Gange, D. Harabor, P. Stuckey, H. Ma and S. Koenig. New Techniques for Pairwise Symmetry Breaking in Multi-Agent Path Finding. In International Conference on Automated Planning and Scheduling (ICAPS), (in print), 2020.
H. Zhang, J. Li, P. Surynek, S. Koenig and S. Kumar. Multi-Agent Path Finding with Mutex Propagation. In International Conference on Automated Planning and Scheduling (ICAPS), (in print), 2020. Outstanding ICAPS Student Paper Award.
D. Atzmon, R. Stern, A. Felner, N. Sturtevant and S. Koenig. Probabilistic Robust Multi-Agent Path Finding. In 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 International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), (in print), 2020.
S.-H. Chan, J. Li, D. Harabor, P. Stuckey, G. Gange, L. Cohen and S. Koenig. Nested ECBS for Bounded-Suboptimal Multi-Agent Path Finding. In IJCAI Workshop on Multi-Agent Path Finding, 2020.
J. Li, A. Tinka, S. Kiesel, J. Durham, S. Kumar and S. Koenig. Lifelong Multi-Agent Path Finding in Large-Scale Warehouses. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), (in print), 2020.
P. Surynek, J. Li, H. Zhang, S. Kumar and S. Koenig. Mutex Propagation for SAT-Based Multi-Agent Path Finding. In International Conference on Principles and Practice of Multi-Agent Systems (PRIMA), 2020.
O. Salzman and R. Stern. Research Challenges and Opportunities in Multi-Agent Path Finding and Multi-Agent Pickup and Delivery Problems. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 1711-1715, 2020.
T. Walker, N. Sturtevant and A. Felner. Generalized and Sub-Optimal Bipartite Constraints for Conflict-Based Search. In 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 Symposium on Combinatorial Search (SoCS), 101-105, 2020.
P. Surynek. On Satisfiability Modulo Theories in Continuous Multi-Agent Path Finding: Compilation-Based and Search-Based Approaches Compared. In International Conference on Agents and Artificial Intelligence (ICAART), 2020.
P. Surynek. Bounded Sub-Optimal Multi-Robot Path Planning Using Satisfiability Modulo Theory (SMT) Approach. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
J. Chudy, N. Popov and P. Surynek. Deployment of Multi-Agent Pathfinding on a Swarm of Physical Robots Centralized Control via Reflex-Based Behavior. In International Conference on Robotics, Computer Vision and Intelligent Systems (ROBOVIS), 2020.
J. Chudy, N. Popov and P. Surynek. Emulating Centralized Control in Multi-Agent Pathfinding Using Decentralized Swarm of Reflex-Based Robots. In IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2020.
S. Almagor and M. Lahijanian. Explainable Multi Agent Path Finding. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 34-42, 2020.
E. Lam and P. Le Bodic. New Valid Inequalities in Branch-and-Cut-and-Price for Multi-Agent Path Finding. In International Conference on Automated Planning and Scheduling (ICAPS), 184-192, 2020.
P. Surynek. Continuous Multi-Agent Path Finding via Satisfiability Modulo Theories (SMT). In International Conference on Agents and Artificial Intelligence (ICAART), 399-420, 2020. Revised Selected Papers.
V. Skopkova, R. Bartak and J. Svancara. What Does Multi-Agent Path-Finding Tell Us About Intelligent Intersections. In International Conference on Agents and Artificial Intelligence (ICAART), 250-257, 2020.
J. Vodrazka, R. Bartak and J. Svancara. On Modelling Multi-Agent Path Finding as a Classical Planning Problem. In IEEE International Conference on Tools with Artificial Intelligence (ICTAI), 23-28, 2020.

2019

J. Li, A. Felner, E. Boyarski, H. Ma and S. Koenig. Improved Heuristics for Multi-Agent Path Finding with Conflict-Based Search. In International Joint Conference on Artificial Intelligence (IJCAI), (in print), 2019.
L. Cohen, T. Uras, S. Kumar and S. Koenig. Optimal and Bounded-Suboptimal Multi-Agent Motion Planning. In Symposium on Combinatorial Search (SoCS), 44-51, 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 Symposium on Combinatorial Search (SoCS), (in print), 2019.
J. Li, H. Zhang, M. Gong, Z. Liang, W. Liu, Z. Tong, L. Yi, R. Morris, C. Pasareanu and S. Koenig. Scheduling and Airport Taxiway Path Planning under Uncertainty. In AIAA Aviation Forum and Exposition (AIAA), (in print), 2019.
H. Ma, D. Harabor, P. Stuckey, J. Li and S. Koenig. Searching with Consistent Prioritization for Multi-Agent Path Finding. In AAAI Conference on Artificial Intelligence (AAAI), (in print), 2019.
H. Ma, W. Hoenig, S. Kumar, N. Ayanian and S. Koenig. Lifelong Path Planning with Kinematic Constraints for Multi-Agent Pickup and Delivery. In AAAI Conference on Artificial Intelligence (AAAI), (in print), 2019.
J. Li, P. Surynek, A. Felner, H. Ma, S. Kumar and S. Koenig. Multi-Agent Path Finding for Large Agents. In AAAI Conference on Artificial Intelligence (AAAI), (in print), 2019.
J. Li, D. Harabor, P. Stuckey, H. Ma and S. Koenig. Symmetry-Breaking Constraints for Grid-Based Multi-Agent Path Finding. In AAAI Conference on Artificial Intelligence (AAAI), (in print), 2019.
G. Sartoretti, J. Kerr, Y. Shi, G. Wagner, S. Kumar, S. Koenig and H. Choset. PRIMAL: Pathfinding via Reinforcement and Imitation Multi-Agent Learning. IEEE Robotics and Automation Letters, (in print), 2019.
M. Liu, H. Ma, J. Li and S. Koenig. Task and Path Planning for Multi-Agent Pickup and Delivery. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), (in print), 2019.
J. Wang, J. Li, H. Ma, S. Koenig and S. Kumar. A New Constraint Satisfaction Perspective on Multi-Agent Path Finding: Preliminary Results. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), (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 International Conference on Automated Planning and Scheduling (ICAPS), (in print), 2019.
W. Hoenig, S. Kiesel, A. Tinka, J. Durham and N. Ayanian. Persistent and Robust Execution of MAPF Schedules in Warehouses. IEEE Robotics and Automation Letters, 4, (2), 1125-1131, 2019.
D. Albani, W. Hoenig, N. Ayanian, D. Nardi, and V. Trianni. Summary: Distributed Task Assignment and Path Planning with Limited Communication for Robot Teams. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), (in print), 2019.
D. Atzmon, A. Diei and D. Rave. Multi-Train Path Finding. In Symposium on Combinatorial Search (SoCS), 125-129, 2019.
P. Surynek. Unifying Search-Based and Compilation-Based Approaches to Multi-Agent Path Finding through Satisfiability Modulo Theories. In International Joint Conference on Artificial Intelligence (IJCAI), 1177-1183, 2019.
P. Surynek. Conflict Handling Framework in Generalized Multi-Agent Path Finding: Advantages and Shortcomings of Satisfiability Modulo Approach. In International Conference on Agents and Artificial Intelligence (ICAART), 192-203, 2019.
P. Surynek. Lazy Compilation of Variants of Multi-Robot Path Planning with Satisfiability Modulo Theory (SMT) Approach. In International Conference on Intelligent Robots and Systems (IROS), 3282-3287, 2019.
P. Surynek. Multi-Agent Path Finding with Generalized Conflicts: An Experimental Study. In International Conference on Agents and Artificial Intelligence (ICAART), 118-142, 2019.
E. Lam, P. Le Bodic, D. Harabor and P. Stuckey. Branch-and-Cut-and-Price for Multi-Agent Pathfinding. In International Joint Conference on Artificial Intelligence (IJCAI), (in print), 2019.
G. Gange, D. Harabor and P. Stuckey. Lazy CBS: Implict Conflict-Based Search Using Lazy Clause Generation. In International Conference on Automated Planning and Scheduling (ICAPS), 2019.
J. Svancara, M. Vlk, R. Stern, D. Atzmon and R. Bartak. Online Multi-Agent Pathfinding. In AAAI Conference on Artificial Intelligence (AAAI), (in print), 2019.
J. Svancara and R. Bartak. Combining Strengths of Optimal Multi-Agent Path Finding Algorithms. In International Conference on Agents and Artificial Intelligence (ICAART), 226-231, 2019.
T. Walker and N. Sturtevant. Collision Detection for Agents in Multi-Agent Pathfinding. arXiv preprint arXiv:1908.09707, 2019.
R. Bartak, J. Svancara, V. Skopkova, D. Nohejl and I. Krasicenko. Multi-Agent Path Finding on Real Robots. AI Communication, 32, (3), 175-189, 2019.

2018

H. Ma, G. Wagner, A. Felner, J. Li, S. Kumar and S. Koenig. Multi-Agent Path Finding with Deadlines. In 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 International Joint Conference on Artificial Intelligence (IJCAI), 1434-1441, 2018.
D. Sigurdson, V. Bultiko, W. Yeoh, C. Hernandez and S. Koenig. Multi-Agent Pathfinding with Real-Time Heuristic Search. In IEEE Conference on Computational Intelligence and Games (CIG), 1-8, 2018.
L. Cohen, G. Wagner, D. Chan, H. Choset, N. Sturtevant, S. Koenig and S. Kumar. Rapid Randomized Restarts for Multi-Agent Path Finding Solvers. In Symposium on Combinatorial Search (SoCS), 148-152, 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 International Conference on Automated Planning and Scheduling (ICAPS), 83-87, 2018.
L. Cohen, S. Koenig, S. Kumar, G. Wagner, H. Choset, D. Chan and N. Sturtevant. Rapid Randomized Restarts for Multi-Agent Path Finding: Preliminary Results. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 1909-1911, 2018.
H. Ma, G. Wagner, A. Felner, J. Li, S. Kumar and S. Koenig. Multi-Agent Path Finding with Deadlines: Preliminary Results. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2004-2006, 2018.
W. Hoenig, J. Preiss, S. Kumar, G. Sukhatme and N. Ayanian. Trajectory Planning for Quadrotor Swarms. IEEE Transactions on Robotics, 34, (4), 856-869, 2018.
W. Hoenig, S. Kiesel, A. Tinka, J. Durham and N. Ayanian. Conflict-Based Search with Optimal Task Assignment. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 757-765, 2018.
D. Atzmon, R. Stern, A. Felner, G. Wagner, R. Bartak and N. Zhou. Robust Multi-Agent Path Finding. In Symposium on Combinatorial Search (SoCS), 2-9, 2018.
R. Bartak, J. Svancara, V. Skopkova and D. Nohejl. Multi-Agent Path Finding on Real Robots: First Experience with Ozobots. In Ibero-American Conference on Artificial Intelligence (IBERAMIA), 290-301, 2018. Best IBERAMIA Paper Award.
R. Bartak, J. Svancara and M. Vlk. A Scheduling-Based Approach to Multi-Agent Path Finding with Weighted and Capacitated Arcs. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 748-756 , 2018.
J. Svancara. Bringing Multi-Agent Path Finding Closer to Reality. In International Joint Conference on Artificial Intelligence (IJCAI), 5787-5788, 2018.
J. Svancara. Bringing Multi-Agent Path Finding Closer to Reality. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 1784-1785, 2018.
A. Botea, D. Bonusi and P. Surynek. Solving Multi-Agent Path Finding on Strongly Biconnected Digraphs. Journal of Artificial Intelligence Research (JAIR), 62, (06/18), 273-314, 2018.
A. Botea, D. Bonusi and P. Surynek. Solving Multi-Agent Path Finding on Strongly Biconnected Digraphs. In International Joint Conference on Artificial Intelligence (IJCAI), 5563-5567, 2018.
T. Walker, N. Sturtevant and A. Felner. Extended Increasing Cost Tree Search for Non-Unit Cost Domains. In International Joint Conference on Artificial Intelligence (IJCAI), 534-540, 2018.

2017

H. Ma, W. Hoenig, L. Cohen, T. Uras, H. Xu, S. Kumar, N. Ayanian and S. Koenig. Overview: A Hierarchical Framework for Plan Generation and Execution in Multirobot Systems. IEEE Intelligent Systems, 32, (6), 6-12, 2017.
H. Ma, S. Kumar and S. Koenig. Multi-Agent Path Finding with Delay Probabilities. In AAAI Conference on Artificial Intelligence (AAAI), 3605-3612, 2017.
H. Ma, J. Li, S. Kumar and S. Koenig. Lifelong Multi-Agent Path Finding for Online Pickup and Delivery Tasks. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 837-845, 2017.
H. Ma and S. Koenig. AI Buzzwords Explained: Multi-Agent Path Finding (MAPF). AI Matters, 3, (3), 15-19, 2017.
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 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 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 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 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 Symposium on Combinatorial Search (SoCS), 169-170, 2017.
R. Bartak, J. Svancara and M. Vlk. Scheduling Models for Multi-Agent Path Finding. In Multidisciplinary International Conference on Scheduling: Theory and Applications (MISTA), 189-200, 2017.
J. Svancara and P. Surynek. New Flow-based Heuristic for Search Algorithms Solving Multi-Agent Path Finding. In International Conference on Agents and Artificial Intelligence (ICAART), 451-458, 2017.
R. Bartak, N. Zhou, R. Stern, E. Boyarski and P. Surynek. Modeling and Solving the Multi-Agent Pathfinding Problem in Picat. In International Conference on Tools with Artificial Intelligence (ICTAI), 959-966, 2017.
P. Surynek. Time-Expanded Graph-Based Propositional Encodings for Makespan-Optimal Solving of Cooperative Path Finding Problems. Annals of Mathematics and Artificial Intelligence, 81, (3-4), 329-375, 2017.
F. Xie, A. Botea and A. Kishimoto. A Scalable Approach to Chasing Multiple Moving Targets with Multiple Agents. In International Joint Conference on Artificial Intelligence (IJCAI), 4470-4476, 2017.
T. Walker, D. Chan and N. Sturtevant. Using Hierarchical Constraints to Avoid Conflicts in Multi-Agent Pathfinding. In International Conference on Automated Planning and Scheduling (ICAPS), 316-324, 2017.
V. Nguyen, P. Obermeier, T. Son, T. Schaub and W. Yeoh. Generalized Target Assignment and Path Finding Using Answer Set Programming. In International Joint Conference on Artificial Intelligence (IJCAI), 1216-1223, 2017.

2016

H. Ma, C. Tovey, G. Sharon, S. Kumar and S. Koenig. Multi-Agent Path Finding with Payload Transfers and the Package-Exchange Robot-Routing Problem. In AAAI Conference on Artificial Intelligence (AAAI), 3166-3173, 2016.
L. Cohen, T. Uras, S. Kumar, H. Xu, N. Ayanian and S. Koenig. Improved Solvers for Bounded-Suboptimal Multi-Agent Path Finding. In International Joint Conference on Artificial Intelligence (IJCAI), 3067-3074, 2016.
H. Ma and S. Koenig. Optimal Target Assignment and Path Finding for Teams of Agents. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 1144-1152, 2016.
W. Hoenig, S. Kumar, L. Cohen, H. Ma, H. Xu, N. Ayanian and S. Koenig. Multi-Agent Path Finding with Kinematic Constraints. In International Conference on Automated Planning and Scheduling (ICAPS), 477-485, 2016. Best ICAPS Paper Award (Robotics Track).
W. Hoenig, S. Kumar, H. Ma, S. Koenig and N. Ayanian. Formation Change for Robot Groups in Occluded Environments. In International Conference on Intelligent Robots and Systems (IROS), 4836-4842, 2016.
H. Ma, S. Koenig, N. Ayanian, L. Cohen, W. Hoenig, S. Kumar, T. Uras, H. Xu, C. Tovey and G. Sharon. Overview: Generalizations of Multi-Agent Path Finding to Real-World Scenarios. In IJCAI-16 Workshop on Multi-Agent Path Finding, 2016.
H. Ma and S. Koenig. Artificial Intelligence Buzzword: Explained. In AI Matters, 2016.
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 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 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 Symposium on Combinatorial Search (SoCS), 145-147, 2016.
P. Karkus, G. Wagner and H. Choset. Recursive Constraint Manifold Subsearch for Multirobot Path Planning with Cooperative Tasks. In Symposium on Combinatorial Search (SoCS), 54-62, 2016.
G. Wagner, H. Choset and A. Siravuru. Multirobot Sequential Composition. In International Conference on Intelligent Robots and Systems (IROS), 2081-2088, 2016.
P. Surynek and P. Michalik. The Joint Movement of Pebbles in Solving the (N^2-1)-Puzzle Suboptimally and its Applications in Rule-Based Cooperative Path-Finding. Autonomous Agents and Multi-Agent Systems, 31, (3), 715-763, 2016.

2015

L. Cohen, T. Uras and S. Koenig. Feasibility Study: Using Highways for Bounded-Suboptimal Multi-Agent Path Finding. In Symposium on Combinatorial Search (SoCS), 2-8, 2015.
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 International Conference on Automated Planning and Scheduling (ICAPS), 47-51, 2015.
G. Wagner and H. Choset. Subdimensional Expansion for Multirobot Path Planning. Artificial Intelligence, 219, 1-24, 2015.
G. Wagner, J. Kim, K. Urban and H. Choset. Constraint Manifold Subsearch for Multirobot Path Planning with Cooperative Tasks. In International Conference on Robotics and Automation (ICRA), 6094-6100, 2015.
P. Surynek. Reduced Time-Expansion Graphs for Solving Cooperative Path Finding Sub-Optimally. In International Joint Conference on Artificial Intelligence (IJCAI), 1916-1922, 2015.

2014

M. Cirillo, T. Uras and S. Koenig. A Lattice-Based Approach to Multi-Robot Motion Planning for Non-Holonomic Vehicles. In International Conference on Intelligent Robots and Systems (IROS), 232-239, 2014.
M. Cirillo, F. Pecora, H. Andreasson, T. Uras and S. Koenig. Integrated Motion Planning and Coordination for Industrial Vehicles. In International Conference on Automated Planning and Scheduling (ICAPS), 463-471, 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 European Conference on Artificial Intelligence (ECAI), 961-962, 2014.
P. Surynek. Compact Representations of Cooperative Path-Finding as SAT Based on Matchings in Bipartite Graphs. In 26th International Conference on Tools with Artificial Intelligence (ICTAI), 875-882, 2014.
M. Ivanova and P. Surynek. Adversarial Cooperative Path-Finding: Complexity and Algorithms. In International Conference on Tools with Artificial Intelligence (ICTAI), 75-82, 2014.
P. Surynek. On the Complexity of Optimal Parallel Cooperative Path-Finding. Fundamenta Informaticae, 137, (4), 517-548, 2014.
P. Surynek. Solving Abstract Cooperative Path-Finding in Densely Populated Environments. Computational Intelligence, 30, (2), 402-450, 2014.
C. Wilt and A. Botea. Spatially Distributed Multiagent Path Planning. In International Conference on Automated Planning and Scheduling (ICAPS), 332-340, 2014.

2013

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 Symposium on Combinatorial Search (SoCS), 2013.
C. Ferner, G. Wagner and H. Choset. ODrM*: Optimal Multirobot Path Planning in Low Dimensional Search Spaces. In International Conference on Robotics and Automation (ICRA), 3854-3859, 2013.

2012

P. Surynek. Towards Optimal Cooperative Path Planning in Hard Setups through Satisfiability Solving. In Pacific Rim International Conference on Artificial Intelligence (PRICAI), 564-576, 2012.
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 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 AAAI Conference on Artificial Intelligence (AAAI), 2012.
A. Botea, D. Harabor and K. Wang. Towards Search-Free Multiagent Pathfinding. In AAAI-12 Workshop on Multiagent Pathfinding, 2012.
G. Wagner, M. Kang and H. Choset. Probabilistic Path Planning for Multiple Robots with Subdimensional Expansion. In International Conference on Robotics and Automation (ICRA), 2886-2892, 2012.
G. Wagner, H. Choset and N. Ayanian. Subdimensional Expansion and Optimal Task Reassignment. In Symposium on Combinatorial Search (SoCS), 177-178, 2012.

2011

G. Sharon, R. Stern, A. Felner and N. Sturtevant. The Increasing Cost Tree Search for Optimal Multi-Agent Pathfinding. In 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 Symposium on Combinatorial Search (SoCS), 2011.
G. Wagner and H. Choset. M*: A Complete Multirobot Path Planning Algorithm with Performance Bounds. In International Conference on Intelligent Robots and Systems (IROS), 3260-3267, 2011.
C. Wang and A. Botea. MAPP: A Scalable Multi-Agent Path Planning Algorithm with Tractability and Completeness Guarantees. 55-90, 2011.
C. Wang, A. Botea and P. Kilby. On Improving the Quality of Solutions in Large-Scale Cooperative Multi-Agent Pathfinding. In Symposium on Combinatorial Search (SoCS), 2011.
C. Wang, A. Botea and P. Kilby. Solution Quality Improvements for Massively Multi-Agent Pathfinding. In AAAI Conference on Artificial Intelligence (AAAI), 1824-1825, 2011.
M. Khorshid, R. Holte and N. Sturtevant. A Polynomial-Time Algorithm for Non-Optimal Multi-Agent Pathfinding. In Symposium on Combinatorial Search (SoCS), 76-83, 2011.

2010

C. Wang and A. Botea. Scalable Multi-Agent Pathfinding on Grid Maps with Tractability and Completeness Guarantees. In European Conference on Artificial Intelligence (ECAI), 977-978, 2010.

2009

P. Surynek. A Novel Approach to Path Planning for Multiple Robots in Bi-Connected Graphs. In International Conference on Robotics and Automation (ICRA), 3613-3619, 2009.
C. Wang and A. Botea. Tractable Multi-Agent Path Planning on Grid Maps. In International Joint Conference on Artificial Intelligence (IJCAI), 1870-1875, 2009.

2008

C. Wang and A. Botea. Fast and Memory-Efficient Multi-Agent Pathfinding. In International Conference on Automated Planning and Scheduling (ICAPS), 380-387, 2008.
M. Jansen and N. Sturtevant. Direction Maps for Cooperative Pathfinding. In Artificial Intelligence and Interactive Digital Entertainment Conference (AIIDE), 185-190, 2008.
M. Jansen and N. Sturtevant. A New Approach to Cooperative Pathfinding. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 1401-1404, 2008.

2006

N. Sturtevant and M. Buro. Improving Collaborative Pathfinding using Map Abstraction. In Artificial Intelligence and Interactive Digital Entertainment Conference (AIIDE), 80-85, 2006.

We thank Taha Rhaouti for help with cleaning up the bibtex file in 2024.