Publications

Yan, J., Li, Z., Kang, W., Zheng, K., Zhang, Y., Chen, Z., Zhang, Y., Harabor, D., Smith, S. F., & Li, J. (2026). Advancing MAPF Toward the Real World: A Scalable Multi-Agent Realistic Testbed (SMART). IEEE Robotics Autom. Lett., 11(6), 7428–7435. https://doi.org/10.1109/LRA.2026.3688062

Ahmadi, S., Tack, G., Harabor, D., Kilby, P., & Jalili, M. (2026). Efficient Energy-Optimal Path Planning for Electric Vehicles Considering Vehicle Dynamics. IEEE Trans. Intell. Transp. Syst., 27(6), 6451–6463. https://doi.org/10.1109/TITS.2026.3679074

Morag, J., Zhang, Y., Koyfman, D., Chen, Z., Felner, A., Harabor, D., & Stern, R. (2025). Prioritised Planning: Completeness, Optimality, and Complexity. J. Artif. Intell. Res., 84. https://doi.org/10.1613/JAIR.1.19358

Ahmadi, S., Tack, G., Harabor, D., Kilby, P., & Jalili, M. (2024). Enhanced methods for the weight constrained shortest path problem. Networks, 84(1), 3–30. https://doi.org/10.1002/NET.22210

Moghadam, S. K., Ebrahimi, M., & Harabor, D. D. (2024). Guards: Benchmarks for weighted grid-based pathfinding. Expert Systems with Applications, 249, 123719. https://doi.org/https://doi.org/10.1016/j.eswa.2024.123719

Afzaal, H., Wallace, M., Moser, I., & Harabor, D. D. (2024). Snapshot-Optimal Real-Time Ride Sharing. Information, 15(4), 174. https://doi.org/10.3390/INFO15040174

Shen, B., Chen, Z., Cheema, M. A., Harabor, D. D., & Stuckey, P. J. (2023). Tracking Progress in Multi-Agent Path Finding. CoRR, abs/2305.08446. https://doi.org/10.48550/ARXIV.2305.08446

Lam, E., Bodic, P. L., Harabor, D., & Stuckey, P. J. (2022). Branch-and-cut-and-price for multi-agent path finding. Comput. Oper. Res., 144, 105809. https://doi.org/10.1016/j.cor.2022.105809

Shen, B., Cheema, M. A., Harabor, D. D., & Stuckey, P. J. (2022). Fast Optimal and Bounded Suboptimal Euclidean Pathfinding. Artificial Intelligence, 302, 103624. https://doi.org/https://doi.org/10.1016/j.artint.2021.103624

Chen, Z., Alonso-Mora, J., Bai, X., Harabor, D. D., & Stuckey, P. J. (2021). Integrated Task Assignment and Path Planning for Capacitated Multi-Agent Pickup and Delivery. IEEE Robotics Autom. Lett., 6(3), 5816–5823. https://doi.org/10.1109/LRA.2021.3074883

Harabor, D., & Vallati, M. (2021). Organizing a Successful Artificial Intelligence Online Conference: Lessons from the 13th Symposium on Combinatorial Search. AI Mag., 42(1), 76–82. https://ojs.aaai.org/index.php/aimagazine/article/view/7376

Li, J., Harabor, D., Stuckey, P. J., Ma, H., Gange, G., & Koenig, S. (2021). Pairwise symmetry reasoning for multi-agent path finding search. Artif. Intell., 301, 103574. https://doi.org/10.1016/j.artint.2021.103574

Hu, Y., Harabor, D., Qin, L., & Yin, Q. (2021). Regarding Goal Bounding and Jump Point Search. J. Artif. Intell. Res., 70, 631–681. https://doi.org/10.1613/jair.1.12255

Harabor, D. D., Grastien, A., Öz, D., & Aksakalli, V. (2016). Optimal Any-Angle Pathfinding In Practice. Journal of Artificial Intelligence Research, 56, 89–118.

Strasser, B., Botea, A., & Harabor, D. (2015). Compressing Optimal Paths with Run Length Encoding. J. Artif. Intell. Res., 54, 593–629. https://doi.org/10.1613/JAIR.4931

Baier, J. A., Botea, A., Harabor, D., & Hernández, C. (2015). Fast Algorithm for Catching a Prey Quickly in Known and Partially Known Game Maps. IEEE Trans. Comput. Intellig. and AI in Games, 7(2), 193–199. https://doi.org/10.1109/TCIAIG.2014.2337889

Zhang, Y., Chen, Z., Harabor, D., Bodic, P. L., & Stuckey, P. J. (2025). Concurrent Planning and Execution in Lifelong Multi-Agent Path Finding with Delay Probabilities. In T. Walsh, J. Shah, & Z. Kolter (Eds.), Thirty-Ninth AAAI Conference on Artificial Intelligence, Thirty-Seventh Conference on Innovative Applications of Artificial Intelligence, Fifteenth Symposium on Educational Advances in Artificial Intelligence, AAAI 2025, Philadelphia, PA, USA, February 25 - March 4, 2025 (pp. 23387–23394). AAAI Press. https://doi.org/10.1609/AAAI.V39I22.34506

Schutt, A., Cardellini, M., Dekker, J. J., Harabor, D., Maratea, M., & Vallati, M. (2025). Constraint-Based In-Station Train Dispatching. In M. G. de la Banda (Ed.), 31st International Conference on Principles and Practice of Constraint Programming, CP 2025, Glasgow, Scotland, August 10-15, 2025 (Vol. 340, p. 33:1-33:24). Schloss Dagstuhl - Leibniz-Zentrum für Informatik. https://doi.org/10.4230/LIPICS.CP.2025.33

Abu-Aisha, A., Shen, B., Harabor, D. D., Stuckey, P. J., & Wallace, M. (2025). Dynamic Replanning for Improved Public Transport Routing. Proceedings of the Thirty-Fourth International Joint Conference on Artificial Intelligence, IJCAI 2025, Montreal, Canada, August 16-22, 2025, 8430–8437. https://doi.org/10.24963/IJCAI.2025/937

Zang, H., Zhang, Y., Jiang, H., Chen, Z., Harabor, D., Stuckey, P. J., & Li, J. (2025). Online Guidance Graph Optimization for Lifelong Multi-Agent Path Finding. In T. Walsh, J. Shah, & Z. Kolter (Eds.), Thirty-Ninth AAAI Conference on Artificial Intelligence, Thirty-Seventh Conference on Innovative Applications of Artificial Intelligence, Fifteenth Symposium on Educational Advances in Artificial Intelligence, AAAI 2025, Philadelphia, PA, USA, February 25 - March 4, 2025 (pp. 14726–14735). AAAI Press. https://doi.org/10.1609/AAAI.V39I14.33614

Chan, S.-H., Chen, Z., Lin, D.-L., Zhang, Y., Harabor, D., Koenig, S., Huang, T.-W., & Phan, T. (2025). Operation Parallelism in Large Neighborhood Search for Anytime Multi-Agent Path Finding. IEEE International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2025, Singapore, December 4-5, 2025, 1–7. https://doi.org/10.1109/MRS66243.2025.11357253

Chan, S.-H., Chen, Z., Lin, D.-L., Zhang, Y., Harabor, D., Koenig, S., Huang, T.-W., & Phan, T. (2024). Anytime Multi-Agent Path Finding using Operation Parallelism in Large Neighborhood Search. In M. Dastani, J. S. Sichman, N. Alechina, & V. Dignum (Eds.), Proceedings of the 23rd International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2024, Auckland, New Zealand, May 6-10, 2024 (pp. 2183–2185). International Foundation for Autonomous Agents. https://doi.org/10.5555/3635637.3663101

Carlson, M., Harabor, D., & Stuckey, P. J. (2024). Avoiding Node Re-Expansions Can Break Symmetry Breaking. Proceedings of the International Symposium on Combinatorial Search, 17, 20–27.

Abuaisha, A., Wallace, M., Harabor, D., & Shen, B. (2024). Efficient and Exact Public Transport Routing via a Transfer Connection Database. Proceedings of the International Symposium on Combinatorial Search, 17, 2–10.

Ahmadi, S., Sturtevant, N. R., Harabor, D., & Jalili, M. (2024). Exact Multi-objective Path Finding with Negative Weights. Proceedings of the International Conference on Automated Planning and Scheduling, 34, 11–19.

Chen, Z., Harabor, D., Hechenberger, R., & Sturtevant, N. R. (2024). Online Submission and Evaluation System Design for Competition Operations. ICAPS 2024 Workshop on the International Planning Competition.

Zhang, Y., Chen, Z., Harabor, D., Le Bodic, P., & Stuckey, P. J. (2024). Planning and Execution in Multi-Agent Path Finding: Models and Algorithms. Proceedings of the International Conference on Automated Planning and Scheduling, 34, 707–715.

Zhang, Y., Chen, Z., Harabor, D., Bodic, P. L., & Stuckey, P. J. (2024). Planning and Execution in Multi-Agent Path Finding: Models and Algorithms (Extended Abstract). In A. Felner & J. Li (Eds.), Seventeenth International Symposium on Combinatorial Search, SOCS 2024, Kananaskis, Alberta, Canada, June 6-8, 2024 (pp. 303–304). AAAI Press. https://doi.org/10.1609/SOCS.V17I1.31592

Zheng, K., Harabor, D., & Wybrow, M. (2024). Posthoc: A Visualisation Framework for Understanding Search. ICAPS 2024 System’s Demonstration Track. https://openreview.net/forum?id=VXHSST7CRi

Morag, J., Zhang, Y., Koyfman, D., Chen, Z., Felner, A., Harabor, D., & Stern, R. (2024). Prioritised Planning with Guarantees. Proceedings of the International Symposium on Combinatorial Search, 17, 82–90.

Chan, S.-H., Chen, Z., Guo, T., Zhang, H., Zhang, Y., Harabor, D., Koenig, S., Wu, C., & Yu, J. (2024). The League of Robot Runners Competition: Goals, Designs, and Implementation. ICAPS System Demonstration Track.

Chen, Z., Harabor, D., Li, J., & Stuckey, P. J. (2024). Traffic Flow Optimisation for Lifelong Multi-Agent Path Finding. Thirty-Eighth AAAI Conference on Artificial Intelligence, AAAI, Vancouver, Canada, February 22 - 27, 2024.

Chen, Z., Harabor, D., Li, J., & Stuckey, P. J. (2024). Traffic Flow Optimisation for Lifelong Multi-Agent Path Finding (Extended Abstract). In A. Felner & J. Li (Eds.), Seventeenth International Symposium on Combinatorial Search, SOCS 2024, Kananaskis, Alberta, Canada, June 6-8, 2024 (pp. 265–266). AAAI Press. https://doi.org/10.1609/SOCS.V17I1.31573

Shen, B., Chen, Z., Li, J., Cheema, M. A., Harabor, D. D., & Stuckey, P. J. (2023). Beyond Pairwise Reasoning in Multi-Agent Path Finding. In S. Koenig, R. Stern, & M. Vallati (Eds.), Proceedings of the Thirty-Third International Conference on Automated Planning and Scheduling, July 8-13, 2023, Prague, Czech Republic (pp. 384–392). AAAI Press. https://doi.org/10.1609/ICAPS.V33I1.27217

Zhang, Y., Harabor, D., Bodic, P. L., & Stuckey, P. J. (2023). Efficient Multi Agent Path Finding with Turn Actions. In R. Barták, W. Ruml, & O. Salzman (Eds.), Sixteenth International Symposium on Combinatorial Search, SOCS 2023, July 14-16, 2023, Prague, Czech Republic (pp. 119–127). AAAI Press. https://doi.org/10.1609/SOCS.V16I1.27290

Lam, E., Harabor, D. D., Stuckey, P. J., & Li, J. (2023). Exact Anytime Multi-Agent Path Finding Using Branch-and-Cut-and-Price and Large Neighborhood Search. In S. Koenig, R. Stern, & M. Vallati (Eds.), Proceedings of the Thirty-Third International Conference on Automated Planning and Scheduling, July 8-13, 2023, Prague, Czech Republic (pp. 254–258). AAAI Press. https://doi.org/10.1609/ICAPS.V33I1.27202

Carlson, M., Moghadam, S. K., Harabor, D. D., Stuckey, P. J., & Ebrahimi, M. (2023). Optimal Pathfinding on Weighted Grid Maps. In B. Williams, Y. Chen, & J. Neville (Eds.), Thirty-Seventh AAAI Conference on Artificial Intelligence, AAAI 2023, Thirty-Fifth Conference on Innovative Applications of Artificial Intelligence, IAAI 2023, Thirteenth Symposium on Educational Advances in Artificial Intelligence, EAAI 2023, Washington, DC, USA, February 7-14, 2023 (pp. 12373–12380). AAAI Press. https://doi.org/10.1609/AAAI.V37I10.26458

Davoodi, A., Wallace, M., Harabor, D., & Ngoduy, D. (2023). Optimal Routing for Autonomous Vehicles in a Mixed Congested Network Considering Fairness. 25th IEEE International Conference on Intelligent Transportation Systems, ITSC 2022, Macau, China, October 8-12, 2022, 1870–1875. https://doi.org/10.1109/ITSC57777.2023.10422527

Zhao, S., Harabor, D., & Stuckey, P. J. (2023). Reducing Redundant Work in Jump Point Search. In R. Barták, W. Ruml, & O. Salzman (Eds.), Sixteenth International Symposium on Combinatorial Search, SOCS 2023, July 14-16, 2023, Prague, Czech Republic (pp. 128–136). AAAI Press. https://doi.org/10.1609/SOCS.V16I1.27291

Nobes, T. K., Harabor, D., Wybrow, M., & Walsh, S. D. C. (2023). Voxel Benchmarks for 3D Pathfinding: Sandstone, Descent, and Industrial Plants. In R. Barták, W. Ruml, & O. Salzman (Eds.), Sixteenth International Symposium on Combinatorial Search, SOCS 2023, July 14-16, 2023, Prague, Czech Republic (pp. 56–64). AAAI Press. https://doi.org/10.1609/SOCS.V16I1.27283

Harabor, D., Hechenberger, R., & Jahn, T. (2022). Benchmarks for Pathfinding Search: Iron Harvest. In L. Chrpa & A. Saetti (Eds.), Proceedings of the Fifteenth International Symposium on Combinatorial Search, SOCS 2022, Vienna, Austria, July 21-23, 2022 (pp. 218–222). AAAI Press. https://doi.org/10.1609/SOCS.V15I1.21770

Hechenberger, R., Stuckey, P. J., Bodic, P. L., & Harabor, D. D. (2022). Dual Euclidean Shortest Path Search (Extended Abstract). In L. Chrpa & A. Saetti (Eds.), Proceedings of the Fifteenth International Symposium on Combinatorial Search, SOCS 2022, Vienna, Austria, July 21-23, 2022 (pp. 285–287). AAAI Press. https://doi.org/10.1609/SOCS.V15I1.21787

Davoodi, A., Wallace, M., & Harabor, D. (2022). Fast Traffic Assignment by Focusing on Changing Edge Flows (Extended Abstract). In L. Chrpa & A. Saetti (Eds.), Proceedings of the Fifteenth International Symposium on Combinatorial Search, SOCS 2022, Vienna, Austria, July 21-23, 2022 (pp. 267–269). AAAI Press. https://doi.org/10.1609/SOCS.V15I1.21781

Chan, S.-H., Li, J., Gange, G., Harabor, D., Stuckey, P. J., & Koenig, S. (2022). Flex Distribution for Bounded-Suboptimal Multi-Agent Path Finding. Thirty-Sixth AAAI Conference on Artificial Intelligence, AAAI 2022, Thirty-Fourth Conference on Innovative Applications of Artificial Intelligence, IAAI 2022, The Twelveth Symposium on Educational Advances in Artificial Intelligence, EAAI 2022 Virtual Event, February 22 - March 1, 2022, 9313–9322. https://doi.org/10.1609/AAAI.V36I9.21162

Shen, B., Cheema, M. A., Harabor, D. D., & Stuckey, P. J. (2022). Improving Time-Dependent Contraction Hierarchies. In A. Kumar, S. Thiébaux, P. Varakantham, & W. Yeoh (Eds.), Proceedings of the Thirty-Second International Conference on Automated Planning and Scheduling, ICAPS 2022, Singapore (virtual), June 13-24, 2022 (pp. 338–347). AAAI Press. https://ojs.aaai.org/index.php/ICAPS/article/view/19818

Li, J., Chen, Z., Harabor, D., Stuckey, P. J., & Koenig, S. (2022). MAPF-LNS2: Fast Repairing for Multi-Agent Path Finding via Large Neighborhood Search. Thirty-Sixth AAAI Conference on Artificial Intelligence, AAAI 2022, Thirty-Fourth Conference on Innovative Applications of Artificial Intelligence, IAAI 2022, The Twelveth Symposium on Educational Advances in Artificial Intelligence, EAAI 2022 Virtual Event, February 22 - March 1, 2022, 10256–10265. https://doi.org/10.1609/AAAI.V36I9.21266

Hu, S., Harabor, D. D., Gange, G., Stuckey, P. J., & Sturtevant, N. R. (2022). Multi-Agent Path Finding with Temporal Jump Point Search. In A. Kumar, S. Thiébaux, P. Varakantham, & W. Yeoh (Eds.), Proceedings of the Thirty-Second International Conference on Automated Planning and Scheduling, ICAPS 2022, Singapore (virtual), June 13-24, 2022 (pp. 169–173). AAAI Press. https://ojs.aaai.org/index.php/ICAPS/article/view/19798

Chen, Z., Li, J., Harabor, D., Stuckey, P. J., & Koenig, S. (2022). Multi-Train Path Finding Revisited. In L. Chrpa & A. Saetti (Eds.), Proceedings of the Fifteenth International Symposium on Combinatorial Search, SOCS 2022, Vienna, Austria, July 21-23, 2022 (pp. 38–46). AAAI Press. https://doi.org/10.1609/SOCS.V15I1.21750

Nobes, T. K., Harabor, D., Wybrow, M., & Walsh, S. D. C. (2022). The JPS Pathfinding System in 3D. In L. Chrpa & A. Saetti (Eds.), Proceedings of the Fifteenth International Symposium on Combinatorial Search, SOCS 2022, Vienna, Austria, July 21-23, 2022 (pp. 145–152). AAAI Press. https://doi.org/10.1609/SOCS.V15I1.21762

Ahmadi, S., Tack, G., Harabor, D., & Kilby, P. (2022). Weight Constrained Path Finding with Bidirectional A. In L. Chrpa & A. Saetti (Eds.), Proceedings of the Fifteenth International Symposium on Combinatorial Search, SOCS 2022, Vienna, Austria, July 21-23, 2022 (pp. 2–10). AAAI Press. https://doi.org/10.1609/SOCS.V15I1.21746

Ahmadi, S., Tack, G., Harabor, D. D., & Kilby, P. (2021). A Fast Exact Algorithm for the Resource Constrained Shortest Path Problem. Thirty-Fifth AAAI Conference on Artificial Intelligence, AAAI 2021, Thirty-Third Conference on Innovative Applications of Artificial Intelligence, IAAI 2021, The Eleventh Symposium on Educational Advances in Artificial Intelligence, EAAI 2021, Virtual Event, February 2-9, 2021, 12217–12224. https://ojs.aaai.org/index.php/AAAI/article/view/17450

Li, J., Chen, Z., Harabor, D., Stuckey, P. J., & Koenig, S. (2021). Anytime Multi-Agent Path Finding via Large Neighborhood Search. In Z.-H. Zhou (Ed.), Proceedings of the Thirtieth International Joint Conference on Artificial Intelligence, IJCAI-21 (pp. 4127–4135). International Joint Conferences on Artificial Intelligence Organization. https://doi.org/10.24963/ijcai.2021/568

Ahmadi, S., Tack, G., Harabor, D., & Kilby, P. (2021). Bi-Objective Search with Bi-Directional A*. In P. Mutzel, R. Pagh, & G. Herman (Eds.), 29th Annual European Symposium on Algorithms (ESA 2021) (Vol. 204, p. 3:1-3:15). Schloss Dagstuhl – Leibniz-Zentrum für Informatik. https://doi.org/10.4230/LIPIcs.ESA.2021.3

Ahmadi, S., Tack, G., Harabor, D., & Kilby, P. (2021). Bi-Objective Search with Bi-directional A* (Extended Abstract). In H. Ma & I. Serina (Eds.), Proceedings of the Fourteenth International Symposium on Combinatorial Search, SOCS 2021, Virtual Conference [Jinan, China], July 26-30, 2021 (pp. 142–144). AAAI Press. https://doi.org/10.1609/SOCS.V12I1.18563

Shen, B., Cheema, M. A., Harabor, D. D., & Stuckey, P. J. (2021). Contracting and Compressing Shortest Path Databases. In S. Biundo, M. Do, R. Goldman, M. Katz, Q. Yang, & H. H. Zhuo (Eds.), Proceedings of the Thirty-First International Conference on Automated Planning and Scheduling, ICAPS 2021, Guangzhou, China (virtual), August 2-13, 2021 (pp. 322–330). AAAI Press. https://ojs.aaai.org/index.php/ICAPS/article/view/15977

Mahéo, A., Zhao, S., Afzaal, H., Harabor, D., Stuckey, P. J., & Wallace, M. (2021). Customised Shortest Paths Using a Distributed Reverse Oracle. In H. Ma & I. Serina (Eds.), Proceedings of the Fourteenth International Symposium on Combinatorial Search, SOCS 2021, Virtual Conference [Jinan, China], July 26-30, 2021 (pp. 79–87). AAAI Press. https://doi.org/10.1609/SOCS.V12I1.18554

Boyarski, E., Felner, A., Bodic, P. L., Harabor, D., Stuckey, P. J., & Koenig, S. (2021). Further Improved Heuristics For Conflict-Based Search. In H. Ma & I. Serina (Eds.), Proceedings of the Fourteenth International Symposium on Combinatorial Search, SOCS 2021, Virtual Conference [Jinan, China], July 26-30, 2021 (pp. 213–215). AAAI Press. https://doi.org/10.1609/SOCS.V12I1.18587

Hu, S., Harabor, D. D., Gange, G., Stuckey, P. J., & Sturtevant, N. R. (2021). Jump Point Search with Temporal Obstacles. In S. Biundo, M. Do, R. Goldman, M. Katz, Q. Yang, & H. H. Zhuo (Eds.), Proceedings of the Thirty-First International Conference on Automated Planning and Scheduling, ICAPS 2021, Guangzhou, China (virtual), August 2-13, 2021 (pp. 184–191). AAAI Press. https://ojs.aaai.org/index.php/ICAPS/article/view/15961

Hechenberger, R., Harabor, D., Cheema, M. A., Stuckey, P. J., & Bodic, P. L. (2021). Multi-Target Search in Euclidean Space with Ray Shooting. In H. Ma & I. Serina (Eds.), Proceedings of the Fourteenth International Symposium on Combinatorial Search, SOCS 2021, Virtual Conference [Jinan, China], July 26-30, 2021 (pp. 176–178). AAAI Press. https://doi.org/10.1609/SOCS.V12I1.18575

Li, J., Chen, Z., Zheng, Y., Chan, S.-H., Harabor, D., Stuckey, P. J., Ma, H., & Koenig, S. (2021). Scalable Rail Planning and Replanning: Winning the 2020 Flatland Challenge. In H. Ma & I. Serina (Eds.), Proceedings of the Fourteenth International Symposium on Combinatorial Search, SOCS 2021, Virtual Conference [Jinan, China], July 26-30, 2021 (pp. 179–181). AAAI Press. https://doi.org/10.1609/SOCS.V12I1.18576

Chen, Z., Harabor, D. D., Li, J., & Stuckey, P. J. (2021). Symmetry Breaking for k-Robust Multi-Agent Path Finding. Thirty-Fifth AAAI Conference on Artificial Intelligence, AAAI 2021, Thirty-Third Conference on Innovative Applications of Artificial Intelligence, IAAI 2021, The Eleventh Symposium on Educational Advances in Artificial Intelligence, EAAI 2021, Virtual Event, February 2-9, 2021, 12267–12274. https://doi.org/10.1609/AAAI.V35I14.17456

Ahmadi, S., Tack, G., Harabor, D., & Kilby, P. (2021). Vehicle Dynamics in Pickup-And-Delivery Problems Using Electric Vehicles. In L. D. Michel (Ed.), 27th International Conference on Principles and Practice of Constraint Programming (CP 2021) (Vol. 210, p. 11:1-11:17). Schloss Dagstuhl – Leibniz-Zentrum für Informatik. https://doi.org/10.4230/LIPIcs.CP.2021.11

Boyarski, E., Felner, A., Bodic, P. L., Harabor, D. D., Stuckey, P. J., & Koenig, S. (2021). f-Aware Conflict Prioritization & Improved Heuristics For Conflict-Based Search. Thirty-Fifth AAAI Conference on Artificial Intelligence, AAAI 2021, Thirty-Third Conference on Innovative Applications of Artificial Intelligence, IAAI 2021, The Eleventh Symposium on Educational Advances in Artificial Intelligence, EAAI 2021, Virtual Event, February 2-9, 2021, 12241–12248. https://ojs.aaai.org/index.php/AAAI/article/view/17453

Zhao, S., Chiari, M., Botea, A., Gerevini, A. E., Harabor, D., Saetti, A., & Stuckey, P. J. (2020). Bounded Suboptimal Path Planning with Compressed Path Databases. In J. C. Beck, O. Buffet, J. Hoffmann, E. Karpas, & S. Sohrabi (Eds.), Proceedings of the Thirtieth International Conference on Automated Planning and Scheduling, Nancy, France, October 26-30, 2020 (pp. 333–342). AAAI Press. https://aaai.org/ojs/index.php/ICAPS/article/view/6678

Shen, B., Cheema, M. A., Harabor, D. D., & Stuckey, P. J. (2020). Eucliean Pathfinding with Compressed Path Databases. Proceedings of the Twenty-Ninth International Joint Conference on Artificial Intelligence, IJCAI 2019, Yokohama, Japan.

Boyarski, E., Harabor, D., Stuckey, P. J., Bodic, P. L., & Felner, A. (2020). F-Cardinal Conflicts in Conflict-Based Search. In D. Harabor & M. Vallati (Eds.), Proceedings of the Thirteenth International Symposium on Combinatorial Search, SOCS 2020, Online Conference [Vienna, Austria], 26-28 May 2020 (pp. 123–124). AAAI Press. https://doi.org/10.1609/SOCS.V11I1.18519

Belov, G., Du, W., de la Banda, M. G., Harabor, D., Koenig, S., & Wei, X. (2020). From Multi-Agent Pathfinding to 3D Pipe Routing. In D. Harabor & M. Vallati (Eds.), Proceedings of the Thirteenth International Symposium on Combinatorial Search, SOCS 2020, Online Conference [Vienna, Austria], 26-28 May 2020 (pp. 11–19). AAAI Press. https://aaai.org/ocs/index.php/SOCS/SOCS20/paper/view/18513

Boyarski, E., Felner, A., Harabor, D. D., Stuckey, P. J., Cohen, L., Li, J., & Koenig, S. (2020). Iterative Deepening Conflict-Based Search. Proceedings of the Twenty-Ninth International Joint Conference on Artificial Intelligence, IJCAI 2019, Yokohama, Japan.

Jiaoyang Li, & Koenig, S. (2020). New Techniques for Pairwise Symmetry Breaking in Multi-Agent Path Finding. Proceedings of International Conference on Automated Planning and Scheduling (ICAPS).

Hechenberger, R., Stuckey, P. J., Harabor, D., Bodic, P. L., & Cheema, M. A. (2020). Online Computation of Euclidean Shortest Paths in Two Dimensions. In J. C. Beck, O. Buffet, J. Hoffmann, E. Karpas, & S. Sohrabi (Eds.), Proceedings of the Thirtieth International Conference on Automated Planning and Scheduling, Nancy, France, October 26-30, 2020 (pp. 134–142). AAAI Press. https://aaai.org/ojs/index.php/ICAPS/article/view/6654

Lam, E., Le Bodic, P., Harabor, D. D., & Stuckey, P. J. (2019). Branch-and-Cut-and-Price for Multi-Agent Pathfinding. Proceedings of the Twenty-Eighth International Joint Conference on Artificial Intelligence, IJCAI-19, 1289–1296. https://doi.org/10.24963/ijcai.2019/179

Mattia Chiari, & Stuckey, P. J. (2019). Cutting the Size of Compressed Path Databases With Wildcards and Redundant Symbols. Proceedings of International Conference on Automated Planning and Scheduling (ICAPS).

Li, J., Harabor, D., Stuckey, P., Felner, A., Ma, H., & Koenig, S. (2019). Disjoint Splitting for Conflict-Based Search for Multi-Agent Path Finding. Proceedings of International Conference on Automated Planning and Scheduling (ICAPS).

Ma, H., Harabor, D., Stuckey, P. J., Li, J., & Koenig, S. (2019). Extended Abstract: Searching with Consistent Prioritization for Multi-Agent Path Finding. In P. Surynek & W. Yeoh (Eds.), Proceedings of the Twelfth International Symposium on Combinatorial Search, SOCS 2019, Napa, California, 16-17 July 2019 (pp. 188–189). AAAI Press. https://doi.org/10.1609/SOCS.V10I1.18484

Yue Hu, & Hu, C. (2019). Improving the Combination of JPS and Geometric Containers. Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS).

Gange, G., Harabor, D., & Stuckey, P. J. (2019). Lazy CBS: Implict Conflict-Based Search Using Lazy Clause Generation. Proceedings of International Conference on Automated Planning and Scheduling (ICAPS).

Bono, M., Gerevini, A. E., Harabor, D. D., & Stuckey, P. J. (2019). Path Planning with CPD Heuristics. Proceedings of the Twenty-Eighth International Joint Conference on Artificial Intelligence, IJCAI-19, 1199–1205. https://doi.org/10.24963/ijcai.2019/167

Betts, J. M., Dowe, D. L., Guimarans, D., Harabor, D. D., Kumarage, H., Stuckey, P. J., & Wybrow, M. (2019). Peak-Hour Rail Demand Shifting with Discrete Optimisation. In T. Schiex & S. de Givry (Eds.), Principles and Practice of Constraint Programming - 25th International Conference, CP 2019, Stamford, CT, USA, September 30 - October 4, 2019, Proceedings (Vol. 11802, pp. 748–763). Springer. https://doi.org/10.1007/978-3-030-30048-7\_43

Harabor, D. D., Uras, T., Stuckey, P. J., & Koenig, S. (2019). Regarding Jump Point Search and Subgoal Graphs. Proceedings of the Twenty-Eighth International Joint Conference on Artificial Intelligence, IJCAI-19, 1241–1248. https://doi.org/10.24963/ijcai.2019/173

Ma, H., Harabor, D., Stuckey, P., Li, J., & Koenig, S. (2019). Searching with Consistent Prioritization for Multi-Agent Path Finding. Proceedings of the National Conference on Artificial Intelligence (AAAI).

Li, J., Harabor, D., Stuckey, P., Ma, H., & Koenig, S. (2019). Symmetry-Breaking Constraints for Grid-Based Multi-Agent Path Finding. Proceedings of the National Conference on Artificial Intelligence (AAAI).

Zhao, S., Taniar, D., & Harabor, D. D. (2018). Fast k-Nearest Neighbor on a Navigation Mesh. Proceedings of the Eleventh International Symposium on Combinatorial Search (SOCS), 124–132.

Harabor, D. D., & Stuckey, P. J. (2018). Forward Search in Contraction Hierarchies. Proceedings of the Eleventh International Symposium on Combinatorial Search (SOCS), 55–62.

Salvetti, M., Botea, A., Gerevini, A. E., Harabor, D., & Saetti, A. (2018). Two-Oracle Optimal Path Planning on Grid Maps. Proceedings of the Twenty-Eighth International Conference on Automated Planning and Scheduling (ICAPS), 227–231.

Cui, M. L., Harabor, D. D., & Grastien, A. (2017). Compromise-free Pathfinding on a Navigation Mesh. Proceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence (IJCAI-17), 496–502. http://www.ijcai.org/proceedings/2017/0070.pdf

Harabor, D., & Stuckey, P. J. (2016). Rail Capacity Modelling with Constraint Programming. Integration of AI and OR Techniques in Constraint Programming - 13th International Conference, CPAIOR 2016, Banff, AB, Canada, May 29 - June 1, 2016, Proceedings, 170–186. https://doi.org/10.1007/978-3-319-33954-2_13

Botea, A., Strasser, B., & Harabor, D. (2015). Complexity Results for Compressing Optimal Paths. Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence, January 25-30, 2015, Austin, Texas, USA., 1100–1106. http://www.aaai.org/ocs/index.php/AAAI/AAAI15/paper/view/9666

Sturtevant, N. R., Traish, J. M., Tulip, J. R., Uras, T., Koenig, S., Strasser, B., Botea, A., Harabor, D., & Rabin, S. (2015). The Grid-Based Path Planning Competition: 2014 Entries and Results. Proceedings of the Eighth Annual Symposium on Combinatorial Search, SOCS 2015, 11-13 June 2015, Ein Gedi, the Dead Sea, Israel., 241. http://www.aaai.org/ocs/index.php/SOCS/SOCS15/paper/view/11290

Strasser, B., Harabor, D., & Botea, A. (2014). Fast First-Move Queries through Run-Length Encoding. SoCS.

Harabor, D. D., & Grastien, A. (2014). Improving Jump Point Search. ICAPS.

Guimarans, D., Harabor, D., & Van Hentenryck, P. (2014, July). Scheduling container trains at Port Botany. IFORS.

Harabor, D. D., & Grastien, A. (2013). An Optimal Any-Angle Pathfinding Algorithm. ICAPS.

Botea, A., Baier, J. A., Harabor, D., & Hernández, C. (2013). Moving Target Search With Compressed Path Databases. ICAPS.

Botea, A., & Harabor, D. D. (2013). Path Planning with Compressed All-Pairs Shortest Paths Data. ICAPS.

Antsfeld, L., Harabor, D. D., Kilby, P., & Walsh, T. (2012). TRANSIT Routing on Video Game Maps. AIIDE.

Harabor, D. D., & Grastien, A. (2012). The JPS Pathfinding System. SOCS.

Harabor, D. (2011). Graph Pruning and Symmetry Breaking on Grid Maps. In T. Walsh (Ed.), IJCAI 2011, Proceedings of the 22nd International Joint Conference on Artificial Intelligence, Barcelona, Catalonia, Spain, July 16-22, 2011 (pp. 2816–2817). IJCAI/AAAI. https://doi.org/10.5591/978-1-57735-516-8/IJCAI11-480

Harabor, D. D., & Grastien, A. (2011). Online Graph Pruning for Pathfinding On Grid Maps. AAAI.

Harabor, D. D., Botea, A., & Kilby, P. (2011). Path Symmetries in Undirected Uniform-Cost Grids. SARA.

Bauer, A., Botea, V., Brown, M., Gray, M., Harabor, D., & Slaney, J. K. (2010). An Integrated Modelling, Debugging, and Visualisation Environment for G12. CP, 522–536.

Harabor, D., & Botea, A. (2010). Breaking Path Symmetries in 4-connected Grid Maps. Proceedings of the AI and Interactive Digital Entertainment Conference AIIDE-10, 33–38.

Harabor, D., & Botea, A. (2008). Hierarchical Path Planning for Multi-Size Agents in Heterogeneous Environments. Proceedings of the IEEE Symposium on Computational Intelligence and Games CIG-08, 258–265.