# benchmarks
Grid-Based Path Planning Competition
A forum for tracking and disseminating state-of-the-art progress in grid-based path planningMAPF Tracker
A database for benchmark results in multi-agent pathfindingBenchmarks
Problem sets for 2D and 3D pathfinding2026 / Advancing MAPF Toward the Real World: A Scalable Multi-Agent Realistic Testbed (SMART)
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.2026.36880622024 / Guards: Benchmarks for weighted grid-based pathfinding
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.2024.1237192023 / Tracking Progress in Multi-Agent Path Finding
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.2305.084462023 / Voxel Benchmarks for 3D Pathfinding: Sandstone, Descent, and Industrial Plants
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.V16I1.272832022 / Benchmarks for Pathfinding Search: Iron Harvest
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.V15I1.217702015 / The Grid-Based Path Planning Competition: 2014 Entries and Results
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