mapf.info | Main / Sven Koenig

Click here for Sven's personal webpage.

J. Li, T. Hoang, E. Lin, H. Vu and S. Koenig. Intersection Coordination with Priority-Based Search for Autonomous Vehicles. In Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 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 Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), 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 Proceedings of the 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 Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 2022.
T. Huang, J. Li, S. Koenig and B. Dilkina. Anytime Multi-Agent Path Finding via Machine Learning-Guided Large Neighborhood Search. In Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the Symposium on Combinatorial Search (SoCS), 2022.
S. Varambally, J. Li and S. Koenig. Which MAPF Model Works Best for Automated Warehousing?. In Proceedings of the 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 Proceedings of the 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.
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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 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.