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J. Yan, S.F. Smith and J. Li. WinkTPG: An Execution Framework for Multi-Agent Path Finding Using Temporal Reasoning. IEEE Transactions on Automation Science and Engineering, 23, 9162-9175, 2026.
J. Yan, Z. Li, W. Kang, K. Zheng, Y. Zhang, Z. Chen, Y. Zhang, D. Harabor, S. F. Smith and J. Li. Advancing MAPF Toward the Real World: A Scalable Multi-Agent Realistic Testbed (SMART). IEEE Robotics and Automation Letters, 11, (6), 7428-7435, 2026.
J. Yan, Z. Li, W. Kang, S. F. Smith and J. Li. Analyzing Planner Design Trade-Offs for MAPF Under ADG-Based Realistic Execution. In International Conference on Automated Planning and Scheduling (ICAPS), 435-439, 2026.
R. Veerapaneni, H. K. A. Tang, Y. Cen, H. He, S. Zhao, V. Shah, Z. Ji, G. Olin, J. Arrizabalaga, Y. Shaoul, J. Li and M. Likhachev. Conflict-Based Search as a Protocol: A Multi-Agent Motion Planning Protocol for Heterogeneous Agents, Solvers, and Independent Tasks. In IEEE International Conference on Robotics and Automation (ICRA), 2026.
Cheng Qian, Yulun Zhang, Varun Bhatt, Matthew C. Fontaine, Stefanos Nikolaidis and Jiaoyang Li. QD-MAPPER: A Quality Diversity Framework to Automatically Evaluate Multi-Agent Path Finding Algorithms in Diverse Maps. In International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), 1049-1057, 2026.
Yifan Su, Rishi Veerapaneni and Jiaoyang Li. BTPG-max: Achieving Local Maximal Bidirectional Pairs for Bidirectional Temporal Plan Graphs. In AAAI Conference on Artificial Intelligence (AAAI), 29687-29695, 2026.
Tiannan Zhang, Rishi Veerapaneni, Shao-Hung Chan, Jiaoyang Li and Maxim Likhachev. Dynamic Agent Grouping ECBS: Scaling Windowed Multi-Agent Path Finding with Completeness Guarantees. In AAAI Conference on Artificial Intelligence (AAAI), 29911-29920, 2026.
Y. Shaoul, J. Li and M. Likhachev. Embodying Multi-Hand Manipulation Policies by Searching the Assignment and Null Spaces. In International Symposium on Combinatorial Search (SoCS), 2026.
Z. He, Y. Shaoul and J. Li. Model-Based Diffusion Optimal Control for Multi-Robot Motion Planning. In Robotics: Science and Systems (RSS), 2026.
I. Mishani, Y. Shaoul, R. Natarajan, J. Li and M. Likhachev. SRMP: Search-Based Robot Motion Planning Library. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026.
S. Zhou, Y. Shaoul and J. Li. LAMP: Long-Horizon Adaptive Manipulation Planning for Multi-Robot Collaboration in Cluttered Space. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026.
V. Sanjay, Y. Shaoul and J. Li. Diffusion for Long-Horizon Multi-Robot Path Planning in Human-Shared Environments. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026.
Z. Jiang, Y. Zhang, R. Veerapaneni and J. Li. Planning over MAPF Agent Dependencies via Multi-Dependency PIBT. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026.
P. Huang, C. Gao and J. Li. VAMP-MR: Vector-Accelerated Motion Planning and Execution for Multi-Robot-Arms. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026.
R. Liu, P. Huang, A. Pun, K. Deng, S. Aggarwal, Z. Tang, M. Liu, D. Ramanan, J. Zhu, J. Li and C. Liu. Prompt-to-Product: Generative Assembly via Bimanual Manipulation. IEEE Robotics and Automation Magazine, 2026.
Y. Tang, Z. Yu, J. Li and S. Koenig. Accelerating Focal Search in Multi-Agent Path Finding with Tighter Lower Bounds. In IEEE International Conference on Intelligent Robots and Systems (IROS), 14111-14117, 2025.
S.-H. Chan, T. Phan, J. Li and S. Koenig. New Mechanisms in Flex Distribution for Bounded Suboptimal Multi-Agent Path Finding. In International Symposium on Combinatorial Search (SoCS), 2025.
Y. Tang, Z. Yu, Y. Zheng, S. Kumar, J. Li and S. Koenig. Caching-Augmented Lifelong Multi-Agent Path Finding. In AAMAS-25 Workshop on Autonomous Robots and Multirobot Systems, 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), 23343-23350, 2025.
H. Jiang, Y. Wang, R. Veerapaneni, T. Duhan, G. Sartoretti and J. Li. Deploying Ten Thousand Robots: Scalable Imitation Learning for Lifelong Multi-Agent Path Finding. In International Conference on Robotics and Automation (ICRA), 1-7, 2025.
H. Jiang, M. Lin and J. Li. Speedup Techniques for Switchable Temporal Plan Graph Optimization. In AAAI Conference on Artificial Intelligence (AAAI), 23212-23221, 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), 14726-14735, 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), 23360-23368, 2025.
R. Veerapaneni, M.S. Saleem, J. Li and M. Likhachev. Windowed MAPF with Completeness Guarantees. In AAAI Conference on Artificial Intelligence (AAAI), 23323-23332, 2025.
Y. Zhang, A. O. G. Barbosa, F. Pecora and J. Li. Destination-to-Chutes Task Mapping Optimization for Multi-Robot Coordination in Robotic Sorting Systems. In International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2025.
P. Huang, Y. Shaoul and J. Li. Benchmarking Shortcutting Techniques for Multi-Robot-Arm Motion Planning. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 13258-13265, 2025.
J. Tan, Y. Luo, J. Li and H. Ma. Reevaluation of Large Neighborhood Search for MAPF: Findings and Opportunities. In International Symposium on Combinatorial Search (SoCS), 212-220, 2025.
R. Liang, R. Veerapaneni, D. Harabor, J. Li and M. Likhachev. Real-Time LaCAM for Real-Time MAPF. In International Symposium on Combinatorial Search (SoCS), 196-200, 2025.
P. Huang, R. Liu, S. Aggarwal, C. Liu and J. Li. APEX-MR: Multi-Robot Asynchronous Planning and Execution for Cooperative Assembly. In Robotics: Science and Systems (RSS), 2025.
H. Jiang, Y. Wang, R. Veerapaneni, T. Harish Duhan, G. Sartoretti and J. Li. Deploying Ten Thousand Robots: Scalable Imitation Learning for Lifelong Multi-Agent Path Finding. In IEEE International Conference on Robotics and Automation (ICRA), 7342-7348, 2025.
R. Veerapaneni, A. Jakobsson, K. Ren, S. Kim, J. Li and M. Likhachev. Work Smarter Not Harder: Simple Imitation Learning with CS-PIBT Outperforms Large Scale Imitation Learning for MAPF. In IEEE International Conference on Robotics and Automation (ICRA), 10229-10236, 2025.
Y. Shaoul, I. Mishani, S. Vats, J. Li and M. Likhachev. Multi-Robot Motion Planning with Diffusion Models. In International Conference on Learning Representations (ICLR), 2025.
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), 613-622, 2024.
Y. Tang, S. Koenig and J. Li. ITA-ECBS: A Bounded-Suboptimal Algorithm for the Combined Target-Assignment and Path-Finding Problem. In International Symposium on Combinatorial Search (SoCS), 134-142,, 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.
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), 11578-11585, 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), 361-369, 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), 189-197, 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.
A. Paul, Y. Feng and J. Li. A Fast Rescheduling Algorithm for Real-Time Multi-Robot Coordination. In International Symposium on Combinatorial Search (SoCS), 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.
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), 10256-10265, 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.
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), 9313-9322, 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), 10731-10737, 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 International Symposium on Combinatorial Search (SoCS), 208-216, 2022.
S. Varambally, J. Li and S. Koenig. Which MAPF Model Works Best for Automated Warehousing?. In International Symposium on Combinatorial Search (SoCS), 190-198, 2022.
H. Zhang, Y. Li, J. Li, S. Kumar and S. Koenig. Mutex Propagation in Multi-Agent Path Finding for Large Agents. In International Symposium on Combinatorial Search (SoCS), 249-253, 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.
Z. Chen, J. Li, D. Harabor, P. Stuckey and S. Koenig. Multi-Train Path Finding Revisited. In International 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.
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, 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.
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. 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.
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.
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), 4084-4090, 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), 193-201, 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), 323-332, 2020. Outstanding ICAPS Student Paper Award.
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), 726-734, 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), 1898-1900, 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), 442-449, 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 International Symposium on Combinatorial Search (SoCS), 151-159, 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), 2930, 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), 7643-7650, 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), 7627-7634, 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), 6087-6095, 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), 1152-1160, 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), 2253-2255, 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), 279-283, 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.
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.
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, 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.