Daniel Harabor
Associate Professor, Monash University
Posthoc
Create simple and effective visualisations from logs to help you understand search2026 / 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.2026.36880622026 / Efficient Energy-Optimal Path Planning for Electric Vehicles Considering Vehicle Dynamics
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.2026.36790742025 / 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 / Constraint-Based In-Station Train Dispatching
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.2025.332025 / Dynamic Replanning for Improved Public Transport Routing
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.2025/9372025 / 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 / 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 / Enhanced methods for the weight constrained shortest path problem
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.222102024 / 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.2024.1237192024 / 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 / 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 / Posthoc: A Visualisation Framework for Understanding Search
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=VXHSST7CRi2024 / 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/INFO150401742024 / 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 / 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.V37I10.264582023 / 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/ITSC57777.2023.104225272023 / 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.V16I1.272912023 / 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.V15I1.217702022 / 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 / Dual Euclidean Shortest Path Search (Extended Abstract)
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.V15I1.217872022 / 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.2021.1036242022 / Fast Traffic Assignment by Focusing on Changing Edge Flows (Extended Abstract)
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.V15I1.217812022 / 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 / 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/198182022 / 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.V15I1.217502022 / 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.V15I1.217622022 / 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.V15I1.217462021 / 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/174502021 / 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 / 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.2021.32021 / Bi-Objective Search with Bi-directional A* (Extended Abstract)
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.V12I1.185632021 / 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/159772021 / 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.V12I1.185542021 / 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 / 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/159612021 / Multi-Target Search in Euclidean Space with Ray Shooting
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.V12I1.185752021 / 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/73762021 / 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 / 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.1.122552021 / 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 / Vehicle Dynamics in Pickup-And-Delivery Problems Using Electric Vehicles
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.2021.112021 / 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 / 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/66782020 / 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 / 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 / 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/66542019 / 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 / 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.2019/1672019 / Peak-Hour Rail Demand Shifting with Discrete Optimisation
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\_432019 / 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.2019/1732019 / 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.pdf2016 / 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_132015 / 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/96662015 / Compressing Optimal Paths with Run Length Encoding
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.49312015 / 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.2014.23378892015 / 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/112902014 / Fast First-Move Queries through Run-Length Encoding
Strasser, B., Harabor, D., & Botea, A. (2014). Fast First-Move Queries through Run-Length Encoding. SoCS.2014 / Improving Jump Point Search
Harabor, D. D., & Grastien, A. (2014). Improving Jump Point Search. ICAPS.2014 / Scheduling container trains at Port Botany
Guimarans, D., Harabor, D., & Van Hentenryck, P. (2014, July). Scheduling container trains at Port Botany. IFORS.2013 / An Optimal Any-Angle Pathfinding Algorithm
Harabor, D. D., & Grastien, A. (2013). An Optimal Any-Angle Pathfinding Algorithm. ICAPS.2013 / Moving Target Search With Compressed Path Databases
Botea, A., Baier, J. A., Harabor, D., & Hernández, C. (2013). Moving Target Search With Compressed Path Databases. ICAPS.2013 / Path Planning with Compressed All-Pairs Shortest Paths Data
Botea, A., & Harabor, D. D. (2013). Path Planning with Compressed All-Pairs Shortest Paths Data. ICAPS.2012 / TRANSIT Routing on Video Game Maps
Antsfeld, L., Harabor, D. D., Kilby, P., & Walsh, T. (2012). TRANSIT Routing on Video Game Maps. AIIDE.2012 / The JPS Pathfinding System
Harabor, D. D., & Grastien, A. (2012). The JPS Pathfinding System. SOCS.2011 / Graph Pruning and Symmetry Breaking on Grid Maps
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/IJCAI11-4802011 / Online Graph Pruning for Pathfinding On Grid Maps
Harabor, D. D., & Grastien, A. (2011). Online Graph Pruning for Pathfinding On Grid Maps. AAAI.2011 / Path Symmetries in Undirected Uniform-Cost Grids
Harabor, D. D., Botea, A., & Kilby, P. (2011). Path Symmetries in Undirected Uniform-Cost Grids. SARA.2010 / An Integrated Modelling, Debugging, and Visualisation Environment for G12
Bauer, A., Botea, V., Brown, M., Gray, M., Harabor, D., & Slaney, J. K. (2010). An Integrated Modelling, Debugging, and Visualisation Environment for G12. CP, 522–536.2010 / Breaking Path Symmetries in 4-connected Grid Maps
Harabor, D., & Botea, A. (2010). Breaking Path Symmetries in 4-connected Grid Maps. Proceedings of the AI and Interactive Digital Entertainment Conference AIIDE-10, 33–38.2008 / Hierarchical Path Planning for Multi-Size Agents in Heterogeneous Environments
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.