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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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.