# multiagent
League of Robot Runners
Manage a fleet of robots in motion in this competition seriesMulti-Agent Pathfinding with TurtleBot 4
A project to bridge the gap between theoretical MAPF solutions and real-world robot operation using TurtleBot 4.Spark
A Cost-Effective Hybrid-Reality Testbed for Large-Scale Wheeled Robot FleetsMAPF Tracker
A database for benchmark results in multi-agent 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.2026.36880622025 / Concurrent Planning and Execution in Lifelong Multi-Agent Path Finding with Delay Probabilities
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.V39I22.345062025 / Online Guidance Graph Optimization for Lifelong Multi-Agent Path Finding
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.V39I14.336142025 / Operation Parallelism in Large Neighborhood Search for Anytime Multi-Agent Path Finding
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/MRS66243.2025.113572532025 / Prioritised Planning: Completeness, Optimality, and Complexity
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.1.193582024 / Anytime Multi-Agent Path Finding using Operation Parallelism in Large Neighborhood Search
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/10.5555/3635637.36631012024 / Planning and Execution in Multi-Agent Path Finding: Models and Algorithms
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, 707–715.2024 / Planning and Execution in Multi-Agent Path Finding: Models and Algorithms (Extended Abstract)
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.V17I1.315922024 / Prioritised Planning with Guarantees
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, 82–90.2024 / The League of Robot Runners Competition: Goals, Designs, and Implementation
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.2024 / Traffic Flow Optimisation for Lifelong Multi-Agent Path Finding
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, 2024.2024 / Traffic Flow Optimisation for Lifelong Multi-Agent Path Finding (Extended Abstract)
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.V17I1.315732023 / Beyond Pairwise Reasoning in Multi-Agent Path Finding
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.V33I1.272172023 / Efficient Multi Agent Path Finding with Turn Actions
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.V16I1.272902023 / Exact Anytime Multi-Agent Path Finding Using Branch-and-Cut-and-Price and Large Neighborhood Search
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.V33I1.272022023 / 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.2305.084462022 / Branch-and-cut-and-price for multi-agent path finding
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.2022.1058092022 / Flex Distribution for Bounded-Suboptimal Multi-Agent Path Finding
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.V36I9.211622022 / MAPF-LNS2: Fast Repairing for Multi-Agent Path Finding via Large Neighborhood Search
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.V36I9.212662022 / Multi-Agent Path Finding with Temporal Jump Point Search
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/197982022 / Multi-Train Path Finding Revisited
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.V15I1.217502021 / Anytime Multi-Agent Path Finding via Large Neighborhood Search
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.2021/5682021 / Further Improved Heuristics For Conflict-Based Search
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.V12I1.185872021 / Integrated Task Assignment and Path Planning for Capacitated Multi-Agent Pickup and Delivery
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.2021.30748832021 / Pairwise symmetry reasoning for multi-agent path finding search
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.2021.1035742021 / Scalable Rail Planning and Replanning: Winning the 2020 Flatland Challenge
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.V12I1.185762021 / Symmetry Breaking for k-Robust Multi-Agent Path Finding
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.V35I14.174562021 / f-Aware Conflict Prioritization & Improved Heuristics For Conflict-Based Search
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/174532020 / F-Cardinal Conflicts in Conflict-Based Search
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.V11I1.185192020 / From Multi-Agent Pathfinding to 3D Pipe Routing
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/185132020 / Iterative Deepening Conflict-Based Search
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.2020 / New Techniques for Pairwise Symmetry Breaking in Multi-Agent Path Finding
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).2019 / Branch-and-Cut-and-Price for Multi-Agent Pathfinding
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.2019/1792019 / Disjoint Splitting for Conflict-Based Search for Multi-Agent Path Finding
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).2019 / Extended Abstract: Searching with Consistent Prioritization for Multi-Agent Path Finding
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.V10I1.184842019 / Lazy CBS: Implict Conflict-Based Search Using Lazy Clause Generation
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).2019 / Searching with Consistent Prioritization for Multi-Agent Path Finding
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).2019 / Symmetry-Breaking Constraints for Grid-Based Multi-Agent Path Finding
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).