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Click here for Richards's personal webpage.
- H. He, X. Wu, S. Zhao and Z. Ren. Conflict-Based Search for Multi-Agent Path Finding with Elevators. In IEEE International Conference on Automation Science and Engineering (CASE), 2026.
- X. Wu, S. Zhao and Z. Ren. BCBS-AA: Bounded Sub-Optimal Conflict-Based Search for Multi-Agent Path Finding with Asynchronous Actions. In International Symposium on Combinatorial Search (SoCS), 2026.
- X. Wu, S. Zhao and Z. Ren. Conflict-Based Search for Multi Agent Path Finding with Asynchronous Actions. In International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2026.
- 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), 2025.
- Z. Ren, A. G. Philip, S. Zhao, S. Rathinam and H. Choset. CP-MILP: Mixed Integer Linear Programming for Multi-Agent Motion Planning With Linear Dynamics. IEEE Robotics and Automation Letters, 10, (12), 12573-12579, 2025.
- Z. Fang, Y. Cai and Z. Ren. Bounded Sub-Optimal Algorithms for Teamwise Cooperative Multi-Agent Path Finding. In International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2025.
- X. Wu and Z. Ren. Multi-Agent Combinatorial Path Finding for Tractor-Trailers in Occupancy Grids. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 14124-14131, 2025.
- S. Zhao, Y. Liu, H. Choset and Z. Ren. Mixed Integer Conic Programming for Multi-Agent Motion Planning in Continuous Space. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 10540-10547, 2025.
- S. Zhao, A. G. Philip, S. Rathinam, H. Choset and Z. Ren. CB-GCS: Conflict-Based Search on the Graph of Convex Sets for Multi-Agent Motion Planning. In IEEE International Conference on Automation Science and Engineering (CASE), 2208-2214, 2025.
- S. Zhou, S. Zhao and Z. Ren. LSRP*: Scalable and Anytime Planning for Multi-Agent Path Finding with Asynchronous Actions [Extended Abstract]. In International Symposium on Combinatorial Search (SoCS), 275-276, 2025.
- 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.
- 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), 361-369, 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.
- 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.
- 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.
- 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.
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