# untagged

Projects

Warthog

Highly-optimised pathfinding search solver written in C++

Publications

2024 / Avoiding Node Re-Expansions Can Break Symmetry Breaking

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.

2024 / Efficient and Exact Public Transport Routing via a Transfer Connection Database

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.

2024 / Exact Multi-objective Path Finding with Negative Weights

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.

2024 / 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.2024.123719

2024 / Online Submission and Evaluation System Design for Competition Operations

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.

2024 / 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 / 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 / Snapshot-Optimal Real-Time Ride Sharing

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

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.

2023 / 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.V33I1.27217

2023 / 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.V16I1.27290

2023 / 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.V33I1.27202

2023 / Optimal Pathfinding on Weighted Grid Maps

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

2023 / Optimal Routing for Autonomous Vehicles in a Mixed Congested Network Considering Fairness

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

2023 / Reducing Redundant Work in Jump Point Search

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

2022 / 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.V15I1.21770

2022 / 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.2022.105809

2022 / Fast Optimal and Bounded Suboptimal Euclidean Pathfinding

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

2022 / 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.V36I9.21162

2022 / Improving Time-Dependent Contraction Hierarchies

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

2022 / 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/19798

2022 / 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.V15I1.21750

2022 / The JPS Pathfinding System in 3D

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

2022 / Weight Constrained Path Finding with Bidirectional A

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

2021 / A Fast Exact Algorithm for the Resource Constrained Shortest Path Problem

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

2021 / 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.2021/568

2021 / Bi-Objective Search with Bi-Directional A*

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

2021 / Contracting and Compressing Shortest Path Databases

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

2021 / Customised Shortest Paths Using a Distributed Reverse Oracle

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

2021 / 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.2021.3074883

2021 / Jump Point Search with Temporal Obstacles

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

2021 / Organizing a Successful Artificial Intelligence Online Conference: Lessons from the 13th Symposium on Combinatorial Search

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

2021 / 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.2021.103574

2021 / Regarding Goal Bounding and Jump Point Search

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

2021 / 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.V12I1.18576

2021 / 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/17453

2020 / Bounded Suboptimal Path Planning with Compressed Path Databases

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

2020 / Eucliean Pathfinding with Compressed Path Databases

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.

2020 / 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/18513

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).

2020 / Online Computation of Euclidean Shortest Paths in Two Dimensions

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

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.2019/179

2019 / Cutting the Size of Compressed Path Databases With Wildcards and Redundant Symbols

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).

2019 / 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 / 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 / Path Planning with CPD Heuristics

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

2019 / Regarding Jump Point Search and Subgoal Graphs

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

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).

2018 / Fast k-Nearest Neighbor on a Navigation Mesh

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.

2018 / Forward Search in Contraction Hierarchies

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

2018 / Two-Oracle Optimal Path Planning on Grid Maps

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.

2017 / Compromise-free Pathfinding on a Navigation Mesh

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

2016 / Optimal Any-Angle Pathfinding In Practice

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

2016 / Rail Capacity Modelling with Constraint Programming

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

2015 / Complexity Results for Compressing Optimal Paths

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

2015 / Fast Algorithm for Catching a Prey Quickly in Known and Partially Known Game Maps

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

2015 / 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