mapf.info

webmaster: Sven Koenig

Learn all about Multi-Agent Path Finding (MAPF)

Sven Koenig

Click here for Sven's personal webpage.

J. Li, Z. Chen, D. Harabor, P. Stuckey and S. Koenig. Anytime Multi-Agent Path Finding via Large Neighborhood Search. In Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), 2021.
J. Li, W. Ruml and S. Koenig. EECBS: A Bounded-Suboptimal Search for Multi-Agent Path Finding. In Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 2021.
J. Li, A. Tinka, S. Kiesel, J. Durham, S. Kumar and S. Koenig. Lifelong Multi-Agent Path Finding in Large-Scale Warehouses. In Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 2021.
T. Huang, S. Koenig and B. Dilkina. Learning to Resolve Conflicts for Multi-Agent Path Finding with Conflict-Based Search. In Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 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 Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 2021.
T. Huang, B. Dilkina and S. Koenig. Learning Node-Selection Strategies in Bounded-Suboptimal Conflict-Based Search for Multi-Agent Path Finding. In Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 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 Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 2021.
S.-H. Chan, J. Li, G. Gange, D. Harabor, P. Stuckey and S. Koenig. ECBS with Flex Distribution for Bounded-Suboptimal Multi-Agent Path Finding [Abstract]. In Proceedings of the Symposium on Combinatorial Search (SoCS), 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 [Abstract]. In Proceedings of the Symposium on Combinatorial Search (SoCS), 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), 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.
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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 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, 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 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.
D. Sigurdson, V. Bultiko, W. Yeoh, C. Hernandez and S. Koenig. Multi-Agent Pathfinding with Real-Time Heuristic Search. In Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 463-471, 2014.

Home Page
News Benchmarks Mailing List Meetings Publications Researchers Software Tutorials Class Projects

(last updated in 2020)