Publications

2025 | 2024 | 2023 | 2022 | 2021 | 2020 | 2019 | 2018 | 2017 | Preprints | Thesis

2025

• Deploying Ten Thousand Robots: Scalable Imitation Learning for Lifelong Multi-Agent Path Finding.
  He Jiang*, Yutong Wang*, Rishi Veerapaneni, Tanishq Harish Duhan, Guillaume Adrien Sartoretti, Jiaoyang Li.
  IEEE International Conference on Robotics and Automation (ICRA), 2025.
  [bibtex] [arXiv]

  @inproceedings{ JiangICRA25,
    author    = "He Jiang and Yutong Wang and Rishi Veerapaneni and Tanishq Harish Duhan and Guillaume Adrien Sartoretti and Jiaoyang Li",
    title     = "Deploying Ten Thousand Robots: Scalable Imitation Learning for Lifelong Multi-Agent Path Finding",
    booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)",
    pages     = "",
    year      = "2025",
    doi       = "",
  }

• Work Smarter Not Harder: Simple Imitation Learning with CS-PIBT Outperforms Large Scale Imitation Learning for MAPF.
  Rishi Veerapaneni*, Arthur Jakobsson*, Kevin Ren, Samuel Kim, Jiaoyang Li, Maxim Likhachev.
  IEEE International Conference on Robotics and Automation (ICRA), 2025.
  [bibtex] [arXiv]

  @inproceedings{ VeerapaneniICRA25,
    author    = "Rishi Veerapaneni and Arthur Jakobsson and Kevin Ren and Samuel Kim and Jiaoyang Li and Maxim Likhachev",
    title     = "Work Smarter Not Harder: Simple Imitation Learning with CS-PIBT Outperforms Large Scale Imitation Learning for MAPF",
    booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)",
    pages     = "",
    year      = "2025",
    doi       = "",
  }

• Multi-Robot Motion Planning with Diffusion Models.
  Yorai Shaoul*, Itamar Mishani*, Shivam Vats*, Jiaoyang Li, Maxim Likhachev.
  International Conference on Learning Representations (ICLR), 2025.
  [bibtex] [arXiv] [code]

  @inproceedings{ ShaoulICLR25,
    author    = "Yorai Shaoul and Itamar Mishani and Shivam Vats and Jiaoyang Li and Maxim Likhachev",
    title     = "Multi-Robot Motion Planning with Diffusion Models",
    booktitle = "Proceedings of the International Conference on Learning Representations (ICLR)",
    pages     = "",
    year      = "2025",
    doi       = "",
  }

• Speedup Techniques for Switchable Temporal Plan Graph Optimization.
  He Jiang, Muhan Lin, Jiaoyang Li.
  AAAI Conference on Artificial Intelligence (AAAI), 2025.
  [bibtex] [arXiv] [code]

  @inproceedings{ JiangAAAI25,
    author    = "He Jiang and Muhan Lin and Jiaoyang Li",
    title     = "Speedup Techniques for Switchable Temporal Plan Graph Optimization",
    booktitle = "Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)",
    pages     = "",
    year      = "2025",
    doi       = "",
  }

• Online Guidance Graph Optimization for Lifelong Multi-Agent Path Finding.
  Hongzhi Zang*, Yulun Zhang*, He Jiang, Zhe Chen, Daniel Harabor, Peter J. Stuckey, Jiaoyang Li.
  AAAI Conference on Artificial Intelligence (AAAI), 2025.
  [bibtex] [arXiv]

  @inproceedings{ ZangAAAI25,
    author    = "Hongzhi Zang and Yulun Zhang and He Jiang and Zhe Chen and Daniel Harabor and Peter J. Stuckey and Jiaoyang Li",
    title     = "Online Guidance Graph Optimization for Lifelong Multi-Agent Path Finding",
    booktitle = "Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)",
    pages     = "",
    year      = "2025",
    doi       = "",
  }

• Multi-agent Motion Planning for Differential Drive Robots Through Stationary State Search.
  Jingtian Yan, Jiaoyang Li.
  AAAI Conference on Artificial Intelligence (AAAI), 2025.
  A short version appeared at Symposium on Combinatorial Search (SoCS), pages 297-298, 2024.
  [bibtex] [arXiv] [code]

  @inproceedings{ YanAAAI25,
    author    = "Jingtian Yan and Jiaoyang Li",
    title     = "Multi-agent Motion Planning for Differential Drive Robots Through Stationary State Search",
    booktitle = "Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)",
    pages     = "",
    year      = "2025",
    doi       = "",
  }

• Windowed MAPF with Completeness Guarantees.
  Rishi Veerapaneni, Muhammad Suhail Saleem, Jiaoyang Li, Maxim Likhachev.
  AAAI Conference on Artificial Intelligence (AAAI), 2025.
  [bibtex] [arXiv]

  @inproceedings{ VeerapaneniAAAI25,
    author    = "Rishi Veerapaneni and Muhammad Suhail Saleem and Jiaoyang Li and Maxim Likhachev",
    title     = "Windowed MAPF with Completeness Guarantees",
    booktitle = "Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)",
    pages     = "",
    year      = "2025",
    doi       = "",
  }

• LNS2+RL: Combining Multi-agent Reinforcement Learning with Large Neighborhood Search in Multi-agent Path Finding.
  Yutong Wang, Tanishq Duhan, Jiaoyang Li, Guillaume Adrien Sartoretti.
  AAAI Conference on Artificial Intelligence (AAAI), 2025.
  [bibtex] [arXiv]

  @inproceedings{ WangAAAI25,
    author    = "Yutong Wang and Tanishq Duhan and Jiaoyang Li and Guillaume Adrien Sartoretti",
    title     = "LNS2+RL: Combining Multi-agent Reinforcement Learning with Large Neighborhood Search in Multi-agent Path Finding",
    booktitle = "Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)",
    pages     = "",
    year      = "2025",
    doi       = "",
  }

2024

• Guidance Graph Optimization for Lifelong Multi-Agent Path Finding.
  Yulun Zhang, He Jiang, Varun Bhatt, Stefanos Nikolaidis, Jiaoyang Li.
  International Joint Conference on Artificial Intelligence (IJCAI), pages 311-320, 2024.
  [bibtex] [publisher] [arXiv] [code]

  @inproceedings{ ZhangIJCAI24,
    author    = "Yulun Zhang and He Jiang and Varun Bhatt and Stefanos Nikolaidis and Jiaoyang Li",
    title     = "Guidance Graph Optimization for Lifelong Multi-Agent Path Finding",
    booktitle = "Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI)",
    pages     = "311-320",
    year      = "2024",
    doi       = "10.24963/ijcai.2024/35",
  }

• Scalable Mechanism Design for Multi-Agent Path Finding.
  Paul Friedrich*, Yulun Zhang*, Michael Curry, Ludwig Dierks, Stephen McAleer, Jiaoyang Li, Tuomas Sandholm, Sven Seuken.
  International Joint Conference on Artificial Intelligence (IJCAI), pages 58-66, 2024.
  [bibtex] [publisher] [arXiv] [code]

  @inproceedings{ FriedrichIJCAI24,
    author    = "Paul Friedrich and Yulun Zhang and Michael Curry and Ludwig Dierks and Stephen McAleer and Jiaoyang Li and Tuomas Sandholm and Sven Seuken",
    title     = "Scalable Mechanism Design for Multi-Agent Path Finding",
    booktitle = "Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI)",
    pages     = "58-66",
    year      = "2024",
    doi       = "10.24963/ijcai.2024/7",
  }

• Scaling Lifelong Multi-Agent Path Finding to More Realistic Settings: Research Challenges and Opportunities. (Winner of 2023 League of Robot Runners)
  He Jiang, Yulun Zhang, Rishi Veerapaneni, Jiaoyang Li.
  Symposium on Combinatorial Search (SoCS), pages 234-242, 2024.
  [bibtex] [publisher] [arXiv] [code]

  @inproceedings{ JiangSoCS24,
    author    = "He Jiang and Yulun Zhang and Rishi Veerapaneni and Jiaoyang Li",
    title     = "Scaling Lifelong Multi-Agent Path Finding to More Realistic Settings: Research Challenges and Opportunities",
    booktitle = "Proceedings of the Symposium on Combinatorial Search (SoCS)",
    pages     = "234-242",
    year      = "2024",
    doi       = "10.1609/socs.v17i1.31565",
  }

• Unconstraining Multi-Robot Manipulation: Enabling Arbitrary Constraints in ECBS with Bounded Sub-Optimality.
  Yorai Shaoul, Rishi Veerapaneni, Maxim Likhachev, Jiaoyang Li.
  Symposium on Combinatorial Search (SoCS), pages 109--117, 2024.
  [bibtex] [publisher] [arXiv]

  @inproceedings{ ShaoulSoCS24,
    author    = "Yorai Shaoul and Rishi Veerapaneni and Maxim Likhachev and Jiaoyang Li",
    title     = "Unconstraining Multi-Robot Manipulation: Enabling Arbitrary Constraints in ECBS with Bounded Sub-Optimality",
    booktitle = "Proceedings of the Symposium on Combinatorial Search (SoCS)",
    pages     = "109--117",
    year      = "2024",
    doi       = "10.1609/socs.v17i1.31548",
  }

• ITA-ECBS: A Bounded-Suboptimal Algorithm for The Combined Target-Assignment and Path-Finding Problem.
  Yimin Tang, Sven Koenig, Jiaoyang Li.
  Symposium on Combinatorial Search (SoCS), pages 134-142, 2024.
  [bibtex] [publisher] [arXiv] [code]

  @inproceedings{ TangSoCS24,
    author    = "Yimin Tang and Sven Koenig and Jiaoyang Li",
    title     = "ITA-ECBS: A Bounded-Suboptimal Algorithm for The Combined Target-Assignment and Path-Finding Problem",
    booktitle = "Proceedings of the Symposium on Combinatorial Search (SoCS)",
    pages     = "134-142",
    year      = "2024",
    doi       = "10.1609/socs.v17i1.31551",
  }

• A Real-Time Rescheduling Algorithm for Multi-robot Plan Execution.
  Ying Feng, Adittyo Paul, Zhe Chen, Jiaoyang Li.
  International Conference on Automated Planning and Scheduling (ICAPS), pages 201-209, 2024.
  A short version appeared at Symposium on Combinatorial Search (SoCS), pages 175-176, 2023.
  [bibtex] [publisher] [arXiv] [code]

  @inproceedings{ FengICAPS24,
    author    = "Ying Feng and Adittyo Paul and Zhe Chen and Jiaoyang Li",
    title     = "A Real-Time Rescheduling Algorithm for Multi-robot Plan Execution",
    booktitle = "Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS)",
    pages     = "201-209",
    year      = "2024",
    doi       = "10.1609/icaps.v34i1.31477",
  }

• MAPF in 3D Warehouses: Dataset and Analysis.
  Qian Wang*, Rishi Veerapaneni*, Yu Wu, Jiaoyang Li, Maxim Likhachev.
  International Conference on Automated Planning and Scheduling (ICAPS), pages 623-632, 2024.
  [bibtex] [publisher] [benchmark page]

  @inproceedings{ WangICAPS24mapf3d,
    author    = "Qian Wang and Rishi Veerapaneni and Yu Wu and Jiaoyang Li and Maxim Likhachev",
    title     = "MAPF in 3D Warehouses: Dataset and Analysis",
    booktitle = "Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS)",
    pages     = "623-632",
    year      = "2024",
    doi       = "10.1609/icaps.v34i1.31525",
  }

• Improving Learnt Local MAPF Policies with Heuristic Search.
  Rishi Veerapaneni*, Qian Wang*, Kevin Ren*, Arthur Jakobsson, Jiaoyang Li, Maxim Likhachev.
  International Conference on Automated Planning and Scheduling (ICAPS), pages 597-606, 2024.
  [bibtex] [publisher] [arXiv]

  @inproceedings{ VeerapaneniICAPS24,
    author    = "Rishi Veerapaneni and Qian Wang and Kevin Ren and Arthur Jakobsson and Jiaoyang Li and Maxim Likhachev",
    title     = "Improving Learnt Local MAPF Policies with Heuristic Search",
    booktitle = "Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS)",
    pages     = "597-606",
    year      = "2024",
    doi       = "10.1609/icaps.v34i1.31522",
  }

• Accelerating Search-Based Planning for Multi-Robot Manipulation by Leveraging Online-Generated Experiences. (Best Student Paper)
  Yorai Shaoul, Itamar Mishani, Maxim Likhachev, Jiaoyang Li.
  International Conference on Automated Planning and Scheduling (ICAPS), pages 523-531, 2024.
  [bibtex] [publisher] [arXiv]

  @inproceedings{ ShaoulICAPS24,
    author    = "Yorai Shaoul and Itamar Mishani and Maxim Likhachev and Jiaoyang Li",
    title     = "Accelerating Search-Based Planning for Multi-Robot Manipulation by Leveraging Online-Generated Experiences",
    booktitle = "Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS)",
    pages     = "523-531",
    year      = "2024",
    doi       = "10.1609/icaps.v34i1.31513",
  }

• Efficient Approximate Search for Multi-Objective Multi-Agent Path Finding.
  Fangji Wang*, Han Zhang*, Sven Koenig, Jiaoyang Li.
  International Conference on Automated Planning and Scheduling (ICAPS), pages 613-622, 2024.
  [bibtex] [publisher] [code]

  @inproceedings{ WangICAPS24momapf,
    author    = "Fangji Wang and Han Zhang and Sven Koenig and Jiaoyang Li",
    title     = "Efficient Approximate Search for Multi-Objective Multi-Agent Path Finding",
    booktitle = "Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS)",
    pages     = "613-622",
    year      = "2024",
    doi       = "10.1609/icaps.v34i1.31524",
  }

• Multi-Agent Motion Planning With Bézier Curve Optimization Under Kinodynamic Constraints.
  Jingtian Yan, Jiaoyang Li.
  IEEE Robotics and Automation Letters, volume 9, number 3, pages 3021-3028, 2024.
  [bibtex] [publisher] [code]

  @article{ YanRAL24,
    author    = "Jingtian Yan and Jiaoyang Li",
    title     = "Multi-Agent Motion Planning With Bézier Curve Optimization Under Kinodynamic Constraints",
    journal   = "IEEE Robotics and Automation Letters",
    volume    = "9",
    number    = "3",
    pages     = "3021-3028",
    year      = "2024",
    doi       = "10.1109/LRA.2024.3363543",
  }

• Bidirectional Temporal Plan Graph: Enabling Switchable Passing Orders for More Efficient Multi-Agent Path Finding Plan Execution.
  Yifan Su, Rishi Veerapaneni, Jiaoyang Li.
  AAAI Conference on Artificial Intelligence (AAAI), pages 17559-17566, 2024.
  [bibtex] [publisher] [arXiv] [code] [talk]

  @inproceedings{ SuAAAI24,
    author    = "Yifan Su and Rishi Veerapaneni and Jiaoyang Li",
    title     = "Bidirectional Temporal Plan Graph: Enabling Switchable Passing Orders for More Efficient Multi-Agent Path Finding Plan Execution",
    booktitle = "Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)",
    pages     = "17559-17566",
    year      = "2024",
    doi       = "10.1609/aaai.v38i16.29706",
  }

• Traffic Flow Optimisation for Lifelong Multi-Agent Path Finding.
  Zhe Chen, Daniel Harabor, Jiaoyang Li, Peter J. Stuckey.
  AAAI Conference on Artificial Intelligence (AAAI), pages 20674-20682, 2024.
  [bibtex] [publisher] [arXiv] [code]

  @inproceedings{ ChenAAAI24,
    author    = "Zhe Chen and Daniel Harabor and Jiaoyang Li and Peter J. Stuckey",
    title     = "Traffic Flow Optimisation for Lifelong Multi-Agent Path Finding",
    booktitle = "Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)",
    pages     = "20674-20682",
    year      = "2024",
    doi       = "10.1609/aaai.v38i18.30054",
  }

2023

• Arbitrarily Scalable Environment Generators via Neural Cellular Automata.
  Yulun Zhang, Matthew C. Fontaine, Varun Bhatt, Stefanos Nikolaidis, Jiaoyang Li.
  Conference on Neural Information Processing Systems (NeurIPS), pages 57212-57225, 2023.
  [bibtex] [publisher] [arXiv] [code] [talk]

  @inproceedings{ ZhangNeurIPS23,
    author    = "Yulun Zhang and Matthew C. Fontaine and Varun Bhatt and Stefanos Nikolaidis and Jiaoyang Li",
    title     = "Arbitrarily Scalable Environment Generators via Neural Cellular Automata",
    booktitle = "Proceedings of the Conference on Neural Information Processing Systems (NeurIPS)",
    pages     = "57212-57225",
    year      = "2023",
    doi       = "",
  }

• Multi-Robot Geometric Task-and-Motion Planning for Collaborative Manipulation Tasks.
  Hejia Zhang, Shao-Hung Chan, Jie Zhong, Jiaoyang Li, Peter Kolapo, Sven Koenig, Zach Agioutantis, Steven Schafrik, Stefanos Nikolaidis.
  Autonomous Robots, volume 47, pages 1537-1558, 2023.
  [bibtex] [publisher]

  @article{ ZhangAR23,
    author    = "Hejia Zhang and Shao-Hung Chan and Jie Zhong and Jiaoyang Li and Peter Kolapo and Sven Koenig and Zach Agioutantis and Steven Schafrik and Stefanos Nikolaidis",
    title     = "Multi-Robot Geometric Task-and-Motion Planning for Collaborative Manipulation Tasks",
    journal   = "Autonomous Robots",
    volume    = "47",
    number    = "",
    pages     = "1537-1558",
    year      = "2023",
    doi       = "10.1007/s10514-023-10148-y",
  }

• Solving Multi-Agent Target Assignment and Path Finding with a Single Constraint Tree. (Best Paper Finalist)
  Yimin Tang, Zhongqiang Ren, Jiaoyang Li, Katia Sycara.
  International Symposium on Multi-Robot and Multi-Agent Systems (MRS), pages 8-14, 2023.
  [bibtex] [publisher] [arXiv] [code]

  @inproceedings{ TangMRS23,
    author    = "Yimin Tang and Zhongqiang Ren and Jiaoyang Li and Katia Sycara",
    title     = "Solving Multi-Agent Target Assignment and Path Finding with a Single Constraint Tree",
    booktitle = "Proceedings of the International Symposium on Multi-Robot and Multi-Agent Systems (MRS)",
    pages     = "8-14",
    year      = "2023",
    doi       = "10.1109/MRS60187.2023.10416794",
  }

• Conflict-Tolerant and Conflict-Free Multi-Agent Meeting.
  Dor Atzmon, Ariel Felner, Jiaoyang Li, Shahaf Shperberg, Nathan Sturtevant, Sven Koenig.
  Artificial Intelligence, volume 322, pages 103950, 2023.
  [bibtex] [publisher]

  @article{ AtzmonAIJ23,
    author    = "Dor Atzmon and Ariel Felner and Jiaoyang Li and Shahaf Shperberg and Nathan Sturtevant and Sven Koenig",
    title     = "Conflict-Tolerant and Conflict-Free Multi-Agent Meeting",
    journal   = "Artificial Intelligence",
    volume    = "322",
    number    = "",
    pages     = "103950",
    year      = "2023",
    doi       = "10.1016/j.artint.2023.103950",
  }

• Multi-Robot Coordination and Layout Design for Automated Warehousing.
  Yulun Zhang, Matthew C. Fontaine, Varun Bhatt, Stefanos Nikolaidis, Jiaoyang Li.
  International Joint Conference on Artificial Intelligence (IJCAI), pages 5503-5511, 2023.
  [bibtex] [publisher] [arXiv] [code]

  @inproceedings{ ZhangIJCAI23,
    author    = "Yulun Zhang and Matthew C. Fontaine and Varun Bhatt and Stefanos Nikolaidis and Jiaoyang Li",
    title     = "Multi-Robot Coordination and Layout Design for Automated Warehousing",
    booktitle = "Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI)",
    pages     = "5503-5511",
    year      = "2023",
    doi       = "10.24963/ijcai.2023/611",
  }

• Exact Anytime Multi-Agent Path Finding Using Branch-and-Cut-and-Price and Large Neighborhood Search.
  Edward Lam, Daniel Harabor, Peter J. Stuckey, Jiaoyang Li.
  International Conference on Automated Planning and Scheduling (ICAPS), pages 254-258, 2023.
  [bibtex] [publisher] [code]

  @inproceedings{ LamICAPS23,
    author    = "Edward Lam and Daniel Harabor and Peter J. Stuckey and Jiaoyang Li",
    title     = "Exact Anytime Multi-Agent Path Finding Using Branch-and-Cut-and-Price and Large Neighborhood Search",
    booktitle = "Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS)",
    pages     = "254-258",
    year      = "2023",
    doi       = "10.1609/icaps.v33i1.27202",
  }

• Beyond Pairwise Reasoning in Multi-Agent Path Finding.
  Bojie Shen, Zhe Chen, Jiaoyang Li, Muhammad Aamir Cheema, Daniel Harabor, Peter J. Stuckey.
  International Conference on Automated Planning and Scheduling (ICAPS), pages 384-392, 2023.
  [bibtex] [publisher] [code]

  @inproceedings{ ShenICAPS23,
    author    = "Bojie Shen and Zhe Chen and Jiaoyang Li and Muhammad Aamir Cheema and Daniel Harabor and Peter J. Stuckey",
    title     = "Beyond Pairwise Reasoning in Multi-Agent Path Finding",
    booktitle = "Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS)",
    pages     = "384-392",
    year      = "2023",
    doi       = "10.1609/icaps.v33i1.27217",
  }

• Binary Branching Multi-Objective Conflict-Based Search for Multi-Agent Path Finding.
  Zhongqiang Ren, Jiaoyang Li, Han Zhang, Sven Koenig, Sivakumar Rathinam, Howie Choset.
  International Conference on Automated Planning and Scheduling (ICAPS), pages 361-369, 2023.
  [bibtex] [publisher] [code]

  @inproceedings{ RenICAPS23,
    author    = "Zhongqiang Ren and Jiaoyang Li and Han Zhang and Sven Koenig and Sivakumar Rathinam and Howie Choset",
    title     = "Binary Branching Multi-Objective Conflict-Based Search for Multi-Agent Path Finding",
    booktitle = "Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS)",
    pages     = "361-369",
    year      = "2023",
    doi       = "10.1609/icaps.v33i1.27214",
  }

• Cost Splitting for Multi-Objective Conflict-Based Search.
  Cheng Ge*, Han Zhang*, Jiaoyang Li, Sven Koenig.
  International Conference on Automated Planning and Scheduling (ICAPS), pages 128-137, 2023.
  [bibtex] [publisher] [code]

  @inproceedings{ GeICAPS23,
    author    = "Cheng Ge and Han Zhang and Jiaoyang Li and Sven Koenig",
    title     = "Cost Splitting for Multi-Objective Conflict-Based Search",
    booktitle = "Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS)",
    pages     = "128-137",
    year      = "2023",
    doi       = "10.1609/icaps.v33i1.27187",
  }

• Deadline-Aware Multi-Agent Tour Planning. (Best Student Paper Honorable Mention)
  Taoan Huang, Vikas Shivashankar, Michael Caldara, Joseph Durham, Jiaoyang Li, Bistra Dilkina, Sven Koenig.
  International Conference on Automated Planning and Scheduling (ICAPS), pages 189-197, 2023.
  [bibtex] [publisher]

  @inproceedings{ HuangICAPS23,
    author    = "Taoan Huang and Vikas Shivashankar and Michael Caldara and Joseph Durham and Jiaoyang Li and Bistra Dilkina and Sven Koenig",
    title     = "Deadline-Aware Multi-Agent Tour Planning",
    booktitle = "Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS)",
    pages     = "189-197",
    year      = "2023",
    doi       = "10.1609/icaps.v33i1.27194",
  }

• Intersection Coordination with Priority-Based Search for Autonomous Vehicles.
  Jiaoyang Li, The Anh Hoang, Eugene Lin, Hai L. Vu, Sven Koenig.
  AAAI Conference on Artificial Intelligence (AAAI), pages 11578-11585, 2023.
  [bibtex] [publisher] [code] [talk]

  @inproceedings{ LiAAAI23,
    author    = "Jiaoyang Li and The Anh Hoang and Eugene Lin and Hai L. Vu and Sven Koenig",
    title     = "Intersection Coordination with Priority-Based Search for Autonomous Vehicles",
    booktitle = "Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)",
    pages     = "11578-11585",
    year      = "2023",
    doi       = "10.1609/aaai.v37i10.26368",
  }

2022

• Multi-Agent Path Finding with Mutex Propagation.
  Han Zhang, Jiaoyang Li, Pavel Surynek, T. K. Satish Kumar, Sven Koenig.
  Artificial Intelligence, volume 311, pages 1034766, 2022.
  [bibtex] [publisher]

  @article{ ZhangAIJ22,
    author    = "Han Zhang and Jiaoyang Li and Pavel Surynek and T. K. Satish Kumar and Sven Koenig",
    title     = "Multi-Agent Path Finding with Mutex Propagation",
    journal   = "Artificial Intelligence",
    volume    = "311",
    number    = "",
    pages     = "1034766",
    year      = "2022",
    doi       = "10.1016/j.artint.2022.103766",
  }

• Multi-Goal Multi-Agent Pickup and Delivery.
  Qinghong Xu, Jiaoyang Li, Sven Koenig, Hang Ma.
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 9964-9971, 2022.
  [bibtex] [publisher]

  @inproceedings{ XuIROS22,
    author    = "Qinghong Xu and Jiaoyang Li and Sven Koenig and Hang Ma",
    title     = "Multi-Goal Multi-Agent Pickup and Delivery",
    booktitle = "Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
    pages     = "9964-9971",
    year      = "2022",
    doi       = "10.1109/IROS47612.2022.9981785",
  }

• A MIP-Based Approach for Multi-Robot Geometric Task-and-Motion Planning.
  Hejia Zhang, Shao-Hung Chan, Jie Zhong, Jiaoyang Li, Sven Koenig, Stefanos Nikolaidis.
  IEEE International Conference on Automation Science and Engineering (CASE), pages 2102-2109, 2022.
  [bibtex] [publisher]

  @inproceedings{ ZhangCASE22,
    author    = "Hejia Zhang and Shao-Hung Chan and Jie Zhong and Jiaoyang Li and Sven Koenig and Stefanos Nikolaidis",
    title     = "A MIP-Based Approach for Multi-Robot Geometric Task-and-Motion Planning",
    booktitle = "Proceedings of the IEEE International Conference on Automation Science and Engineering (CASE)",
    pages     = "2102-2109",
    year      = "2022",
    doi       = "10.1109/CASE49997.2022.9926661",
  }

• Which MAPF Model Works Best for Automated Warehousing?.
  Sumanth Varambally, Jiaoyang Li, Sven Koenig.
  Symposium on Combinatorial Search (SoCS), pages 190-198, 2022.
  [bibtex] [publisher]

  @inproceedings{ VaramballySoCS22,
    author    = "Sumanth Varambally and Jiaoyang Li and Sven Koenig",
    title     = "Which MAPF Model Works Best for Automated Warehousing?",
    booktitle = "Proceedings of the Symposium on Combinatorial Search (SoCS)",
    pages     = "190-198",
    year      = "2022",
    doi       = "10.1609/socs.v15i1.21767",
  }

• Learning a Priority Ordering for Prioritized Planning in Multi-Agent Path Finding.
  Shuyang Zhang, Jiaoyang Li, Taoan Huang, Sven Koenig, Bistra Dilkina.
  Symposium on Combinatorial Search (SoCS), pages 208-216, 2022.
  [bibtex] [publisher]

  @inproceedings{ ZhangSoCS22,
    author    = "Shuyang Zhang and Jiaoyang Li and Taoan Huang and Sven Koenig and Bistra Dilkina",
    title     = "Learning a Priority Ordering for Prioritized Planning in Multi-Agent Path Finding",
    booktitle = "Proceedings of the Symposium on Combinatorial Search (SoCS)",
    pages     = "208-216",
    year      = "2022",
    doi       = "10.1609/socs.v15i1.21769",
  }

• Multi-Train Path Finding Revisited.
  Zhe Chen, Jiaoyang Li, Daniel Harabor, Peter J. Stuckey, Sven Koenig.
  Symposium on Combinatorial Search (SoCS), pages 38-46, 2022.
  [bibtex] [publisher] [code]

  @inproceedings{ ChenSoCS22,
    author    = "Zhe Chen and Jiaoyang Li and Daniel Harabor and Peter J. Stuckey and Sven Koenig",
    title     = "Multi-Train Path Finding Revisited",
    booktitle = "Proceedings of the Symposium on Combinatorial Search (SoCS)",
    pages     = "38-46",
    year      = "2022",
    doi       = "10.1609/socs.v15i1.21750",
  }

• Mutex Propagation in Multi-Agent Path Finding for Large Agents.
  Han Zhang, Yutong Li, Jiaoyang Li, T. K. Satish Kumar, Sven Koenig.
  Symposium on Combinatorial Search (SoCS), pages 249-253, 2022.
  [bibtex] [publisher]

  @inproceedings{ ZhangSoCS22mutex,
    author    = "Han Zhang and Yutong Li and Jiaoyang Li and T. K. Satish Kumar and Sven Koenig",
    title     = "Mutex Propagation in Multi-Agent Path Finding for Large Agents",
    booktitle = "Proceedings of the Symposium on Combinatorial Search (SoCS)",
    pages     = "249-253",
    year      = "2022",
    doi       = "10.1609/socs.v15i1.21776",
  }

• Optimal and Bounded-Suboptimal Multi-Goal Task Assignment and Path Finding.
  Xinyi Zhong, Jiaoyang Li, Sven Koenig, Hang Ma.
  IEEE International Conference on Robotics and Automation (ICRA), pages 10731-10737, 2022.
  [bibtex] [publisher]

  @inproceedings{ ZhongICRA22,
    author    = "Xinyi Zhong and Jiaoyang Li and Sven Koenig and Hang Ma",
    title     = "Optimal and Bounded-Suboptimal Multi-Goal Task Assignment and Path Finding",
    booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)",
    pages     = "10731-10737",
    year      = "2022",
    doi       = "10.1109/ICRA46639.2022.9812020",
  }

• Multi-Agent Path Finding for Precedence-Constrained Goal Sequences.
  Han Zhang*, Jingkai Chen*, Jiaoyang Li, Brian Williams, Sven Koenig.
  International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), pages 1464-1472, 2022.
  [bibtex] [publisher] [code]

  @inproceedings{ ZhangAAMAS22,
    author    = "Han Zhang and Jingkai Chen and Jiaoyang Li and Brian Williams and Sven Koenig",
    title     = "Multi-Agent Path Finding for Precedence-Constrained Goal Sequences",
    booktitle = "Proceedings of the International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS)",
    pages     = "1464-1472",
    year      = "2022",
    doi       = "",
  }

• MAPF-LNS2: Fast Repairing for Multi-Agent Path Finding via Large Neighborhood Search.
  Jiaoyang Li, Zhe Chen, Daniel Harabor, Peter J. Stuckey, Sven Koenig.
  AAAI Conference on Artificial Intelligence (AAAI), pages 10256-10265, 2022.
  [bibtex] [publisher] [code]

  @inproceedings{ LiAAAI22,
    author    = "Jiaoyang Li and Zhe Chen and Daniel Harabor and Peter J. Stuckey and Sven Koenig",
    title     = "MAPF-LNS2: Fast Repairing for Multi-Agent Path Finding via Large Neighborhood Search",
    booktitle = "Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)",
    pages     = "10256-10265",
    year      = "2022",
    doi       = "10.1609/aaai.v36i9.21266",
  }

• Anytime Multi-Agent Path Finding via Machine Learning-Guided Large Neighborhood Search.
  Taoan Huang, Jiaoyang Li, Sven Koenig, Bistra Dilkina.
  AAAI Conference on Artificial Intelligence (AAAI), pages 9368-9376, 2022.
  [bibtex] [publisher]

  @inproceedings{ HuangAAAI22,
    author    = "Taoan Huang and Jiaoyang Li and Sven Koenig and Bistra Dilkina",
    title     = "Anytime Multi-Agent Path Finding via Machine Learning-Guided Large Neighborhood Search",
    booktitle = "Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)",
    pages     = "9368-9376",
    year      = "2022",
    doi       = "10.1609/aaai.v36i9.21168",
  }

• Shard Systems: Scalable, Robust and Persistent Multi-Agent Path Finding with Performance Guarantees.
  Christopher Leet, Jiaoyang Li, Sven Koenig.
  AAAI Conference on Artificial Intelligence (AAAI), pages 9386-9395, 2022.
  [bibtex] [publisher]

  @inproceedings{ LeetAAAI22,
    author    = "Christopher Leet and Jiaoyang Li and Sven Koenig",
    title     = "Shard Systems: Scalable, Robust and Persistent Multi-Agent Path Finding with Performance Guarantees",
    booktitle = "Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)",
    pages     = "9386-9395",
    year      = "2022",
    doi       = "10.1609/aaai.v36i9.21170",
  }

• Flex Distribution for Bounded-Suboptimal Multi-Agent Path Finding.
  Shao-Hung Chan, Jiaoyang Li, Graeme Gange, Daniel Harabor, Peter J. Stuckey, Sven Koenig.
  AAAI Conference on Artificial Intelligence (AAAI), pages 9313-9322, 2022.
  [bibtex]

  @inproceedings{ ChanAAAI22,
    author    = "Shao-Hung Chan and Jiaoyang Li and Graeme Gange and Daniel Harabor and Peter J. Stuckey and Sven Koenig",
    title     = "Flex Distribution for Bounded-Suboptimal Multi-Agent Path Finding",
    booktitle = "Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)",
    pages     = "9313-9322",
    year      = "2022",
    doi       = "",
  }

2021

• Pairwise Symmetry Reasoning for Multi-Agent Path Finding Search.
  Jiaoyang Li, Daniel Harabor, Peter J. Stuckey, Hang Ma, Graeme Gange, Sven Koenig.
  Artificial Intelligence, volume 301, pages 103574, 2021.
  [bibtex] [publisher] [code]

  @article{ LiAIJ21,
    author    = "Jiaoyang Li and Daniel Harabor and Peter J. Stuckey and Hang Ma and Graeme Gange and Sven Koenig",
    title     = "Pairwise Symmetry Reasoning for Multi-Agent Path Finding Search",
    journal   = "Artificial Intelligence",
    volume    = "301",
    number    = "",
    pages     = "103574",
    year      = "2021",
    doi       = "10.1016/j.artint.2021.103574",
  }

• Anytime Multi-Agent Path Finding via Large Neighborhood Search.
  Jiaoyang Li, Zhe Chen, Daniel Harabor, Peter J. Stuckey, Sven Koenig.
  International Joint Conference on Artificial Intelligence (IJCAI), pages 4127-4135, 2021.
  A short version appeared at International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), pages 1581-1583, 2021.
  [bibtex] [publisher] [code] [poster]

  @inproceedings{ LiIJCAI21,
    author    = "Jiaoyang Li and Zhe Chen and Daniel Harabor and Peter J. Stuckey and Sven Koenig",
    title     = "Anytime Multi-Agent Path Finding via Large Neighborhood Search",
    booktitle = "Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI)",
    pages     = "4127-4135",
    year      = "2021",
    doi       = "10.24963/ijcai.2021/568",
  }

• Scalable Rail Planning and Replanning: Winning the 2020 Flatland Challenge. (Winner of the NeurIPS'20 Flatland Challenge; ICAPS Best System Demonstration Award)
  Jiaoyang Li, Zhe Chen, Yi Zheng, Shao-Hung Chan, Daniel Harabor, Peter J. Stuckey, Hang Ma, Sven Koenig.
  International Conference on Automated Planning and Scheduling (ICAPS), pages 477-485, 2021.
  A short version appeared at Symposium on Combinatorial Search (SoCS), pages 179-181, 2021.
  [bibtex] [publisher] [code] [demo] [media] [talk]

  @inproceedings{ LiICAPS21,
    author    = "Jiaoyang Li and Zhe Chen and Yi Zheng and Shao-Hung Chan and Daniel Harabor and Peter J. Stuckey and Hang Ma and Sven Koenig",
    title     = "Scalable Rail Planning and Replanning: Winning the 2020 Flatland Challenge",
    booktitle = "Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS)",
    pages     = "477-485",
    year      = "2021",
    doi       = "10.1609/icaps.v31i1.15994",
  }

• Conflict-Based Increasing Cost Search.
  Thayne Walker, Nathan R. Sturtevant, Ariel Felner, Han Zhang, Jiaoyang Li, T. K. Satish Kumar.
  International Conference on Automated Planning and Scheduling (ICAPS), pages 385-395, 2021.
  [bibtex] [publisher]

  @inproceedings{ WalkerICAPS21,
    author    = "Thayne Walker and Nathan R. Sturtevant and Ariel Felner and Han Zhang and Jiaoyang Li and T. K. Satish Kumar",
    title     = "Conflict-Based Increasing Cost Search",
    booktitle = "Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS)",
    pages     = "385-395",
    year      = "2021",
    doi       = "10.1609/icaps.v31i1.15984",
  }

• EECBS: A Bounded-Suboptimal Search for Multi-Agent Path Finding.
  Jiaoyang Li, Wheeler Ruml, Sven Koenig.
  AAAI Conference on Artificial Intelligence (AAAI), pages 12353-12362, 2021.
  [bibtex] [publisher] [code] [talk]

  @inproceedings{ LiAAAI21eecbs,
    author    = "Jiaoyang Li and Wheeler Ruml and Sven Koenig",
    title     = "EECBS: A Bounded-Suboptimal Search for Multi-Agent Path Finding",
    booktitle = "Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)",
    pages     = "12353-12362",
    year      = "2021",
    doi       = "10.1609/aaai.v35i14.17466",
  }

• Lifelong Multi-Agent Path Finding in Large-Scale Warehouses.
  Jiaoyang Li, Andrew Tinka, Scott Kiesel, Joseph W. Durham, T. K. Satish Kumar, Sven Koenig.
  AAAI Conference on Artificial Intelligence (AAAI), pages 11272-11281, 2021.
  A short version appeared at International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), pages 1898-1900, 2020.
  [bibtex] [publisher] [code] [slides] [talk]

  @inproceedings{ LiAAAI21lifelong,
    author    = "Jiaoyang Li and Andrew Tinka and Scott Kiesel and Joseph W. Durham and T. K. Satish Kumar and Sven Koenig",
    title     = "Lifelong Multi-Agent Path Finding in Large-Scale Warehouses",
    booktitle = "Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)",
    pages     = "11272-11281",
    year      = "2021",
    doi       = "10.1609/aaai.v35i13.17344",
  }

• Scalable and Safe Multi-Agent Motion Planning with Nonlinear Dynamics and Bounded Disturbances.
  Jingkai Chen, Jiaoyang Li, Chuchu Fan, Brian Williams.
  AAAI Conference on Artificial Intelligence (AAAI), pages 11237-11245, 2021.
  [bibtex] [publisher] [code] [talk]

  @inproceedings{ ChenAAAI21s2m2,
    author    = "Jingkai Chen and Jiaoyang Li and Chuchu Fan and Brian Williams",
    title     = "Scalable and Safe Multi-Agent Motion Planning with Nonlinear Dynamics and Bounded Disturbances",
    booktitle = "Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)",
    pages     = "11237-11245",
    year      = "2021",
    doi       = "10.1609/aaai.v35i13.17340",
  }

• Symmetry Breaking for k-Robust Multi-Agent Path Finding.
  Zhe Chen, Daniel Harabor, Jiaoyang Li, Peter J. Stuckey.
  AAAI Conference on Artificial Intelligence (AAAI), pages 12267-12274, 2021.
  [bibtex] [publisher] [code]

  @inproceedings{ ChenAAAI21robust,
    author    = "Zhe Chen and Daniel Harabor and Jiaoyang Li and Peter J. Stuckey",
    title     = "Symmetry Breaking for k-Robust Multi-Agent Path Finding",
    booktitle = "Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)",
    pages     = "12267-12274",
    year      = "2021",
    doi       = "10.1609/aaai.v35i14.17456",
  }

• A Hierarchical Approach to Multi-Agent Path Finding.
  Han Zhang, Mingze Yao, Ziang Liu, Jiaoyang Li, Lucas Terr, Shao-Hung Chan, T. K. Satish Kumar, Sven Koenig.
  ICAPS Workshop on Hierarchical Planning, 2021.
  A short version appeared at Symposium on Combinatorial Search (SoCS), pages 209-211, 2021.
  [bibtex] [preprint]

  @inproceedings{ZhangHPLAN21,
    author    = {Han Zhang and Mingze Yao and Ziang Liu and Jiaoyang Li and Lucas Terr and Shao-Hung Chan and T. K. Satish Kumar and Sven Koenig},
    title     = {A Hierarchical Approach to Multi-Agent Path Finding},
    booktitle = {ICAPS Workshop on Hierarchical Planning (HPLAN)},
    year      = {2021}
  }
  

• Flatland Competition 2020: MAPF and MARL for Efficient Train Coordination on a Grid World.
  Florian Laurent, Manuel Schneider, Christian Scheller, Jeremy Watson, Jiaoyang Li, Zhe Chen, Yi Zheng, Shao-Hung Chan, Konstantin Makhnev, Oleg Svidchenko, Vladimir Egorov, Dmitry Ivanov, Aleksei Shpilman, Evgenija Spirovska, Oliver Tanevski, Aleksandar Nikov, Ramon Grunder, David Galevski, Jakov Mitrovski, Guillaume Sartoretti, Zhiyao Luo, Mehul Damani, Nilabha Bhattacharya, Shivam Agarwal, Adrian Egli, Erik Nygren, Sharada Mohanty.
  NeurIPS 2020 Competition and Demonstration Track, RMLR, volume 133, pages 275-301, 2021.
  [bibtex] [publisher]

  @inproceedings{Laurent21,
    title     = {Flatland Competition 2020: MAPF and MARL for Efficient Train Coordination on a Grid World},
    author    = {Laurent, Florian and Schneider, Manuel and Scheller, Christian and Watson, Jeremy and Li, Jiaoyang and Chen, Zhe and Zheng, Yi and Chan, Shao-Hung and Makhnev, Konstantin and Svidchenko, Oleg and Egorov, Vladimir and Ivanov, Dmitry and Shpilman, Aleksei and Spirovska, Evgenija and Tanevski, Oliver and Nikov, Aleksandar and Grunder, Ramon and Galevski, David and Mitrovski, Jakov and Sartoretti, Guillaume and Luo, Zhiyao and Damani, Mehul and Bhattacharya, Nilabha and Agarwal, Shivam and Egli, Adrian and Nygren, Erik and Mohanty, Sharada},
    booktitle = {Proceedings of the NeurIPS 2020 Competition and Demonstration Track},
    pages     = 	 {275--301},
    year      = 	 {2021},
    volume    = 	 {133},
    series    = 	 {Proceedings of Machine Learning Research},
  }
  

2020

• Nested ECBS for Bounded-Suboptimal Multi-Agent Path Finding.
  Shao-Hung Chan, Jiaoyang Li, Daniel Harabor, Peter J. Stuckey, Graeme Gange, Liron Cohen, Sven Koenig.
  IJCAI Workshop on Multi-Agent Path Finding, 2020.
  [bibtex] [preprint]

  @inproceedings{ChanWoMAPF20,
    author    = {Shao-Hung Chan and Jiaoyang Li and Daniel Harabor and Peter J. Stuckey and Graeme Gange and Liron Cohen and Sven Koenig},
    title     = {Nested ECBS for Bounded-Suboptimal Multi-Agent Path Finding},
    booktitle = {IJCAI Workshop on Multi-Agent Path Finding},
    year      = {2020}
  }
  

• Multi-Directional Heuristic Search.
  Dor Atzmon, Jiaoyang Li, Ariel Felner, Eliran Nachmani, Shahaf Shperberg, Nathan Sturtevant, Sven Koenig.
  International Joint Conference on Artificial Intelligence (IJCAI), pages 4062-4068, 2020.
  A short version appeared at Symposium on Combinatorial Search (SoCS), pages 121-122, 2020.
  [bibtex] [publisher] [IJCAI long talk] [IJCAI short talk] [SoCS talk]

  @inproceedings{ AtzmonIJCAI20,
    author    = "Dor Atzmon and Jiaoyang Li and Ariel Felner and Eliran Nachmani and Shahaf Shperberg and Nathan Sturtevant and Sven Koenig",
    title     = "Multi-Directional Heuristic Search",
    booktitle = "Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI)",
    pages     = "4062-4068",
    year      = "2020",
    doi       = "10.24963/ijcai.2020/562",
  }

• Iterative-Deepening Conflict-Based Search.
  Eli Boyarski, Ariel Felner, Daniel Harabor, Peter J. Stuckey, Liron Cohen, Jiaoyang Li, Sven Koenig.
  International Joint Conference on Artificial Intelligence (IJCAI), pages 4084-4090, 2020.
  [bibtex] [publisher] [code] [long talk] [short talk]

  @inproceedings{ BoyarskiIJCAI2020,
    author    = "Eli Boyarski and Ariel Felner and Daniel Harabor and Peter J. Stuckey and Liron Cohen and Jiaoyang Li and Sven Koenig",
    title     = "Iterative-Deepening Conflict-Based Search",
    booktitle = "Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI)",
    pages     = "4084-4090",
    year      = "2020",
    doi       = "10.24963/ijcai.2020/565",
  }

• New Techniques for Pairwise Symmetry Breaking in Multi-Agent Path Finding.
  Jiaoyang Li, Graeme Gange, Daniel Harabor, Peter J. Stuckey, Hang Ma, Sven Koenig.
  International Conference on Automated Planning and Scheduling (ICAPS), pages 193-201, 2020.
  A short version appeared at Symposium on Combinatorial Search (SoCS), pages 129-130, 2020.
  [bibtex] [publisher] [code] [poster] [slides] [short talk] [long talk]

  @inproceedings{ LiICAPS2020,
    author    = "Jiaoyang Li and Graeme Gange and Daniel Harabor and Peter J. Stuckey and Hang Ma and Sven Koenig",
    title     = "New Techniques for Pairwise Symmetry Breaking in Multi-Agent Path Finding",
    booktitle = "Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS)",
    pages     = "193-201",
    year      = "2020",
    doi       = "10.1609/icaps.v30i1.6661",
  }

• Multi-Agent Path Finding with Mutex Propagation. (Outstanding Student Paper)
  Han Zhang, Jiaoyang Li, Pavel Surynek, Sven Koenig, T. K. Satish Kumar.
  International Conference on Automated Planning and Scheduling (ICAPS), pages 323-332, 2020.
  [bibtex] [publisher] [code] [talk]

  @inproceedings{ ZhangICAPS20,
    author    = "Han Zhang and Jiaoyang Li and Pavel Surynek and Sven Koenig and T. K. Satish Kumar",
    title     = "Multi-Agent Path Finding with Mutex Propagation",
    booktitle = "Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS)",
    pages     = "323-332",
    year      = "2020",
    doi       = "10.1609/icaps.v30i1.6677",
  }

• Moving Agents in Formation in Congested Environments.
  Jiaoyang Li, Kexuan Sun, Hang Ma, Ariel Felner, T. K. Satish Kumar, Sven Koenig.
  International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), pages 726-734, 2020.
  A short version appeared at Symposium on Combinatorial Search (SoCS), pages 131-132, 2020.
  [bibtex] [publisher] [slides] [long talk] [short talk]

  @inproceedings{ LiAAMAS20,
    author    = "Jiaoyang Li and Kexuan Sun and Hang Ma and Ariel Felner and T. K. Satish Kumar and Sven Koenig",
    title     = "Moving Agents in Formation in Congested Environments",
    booktitle = "Proceedings of the International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS)",
    pages     = "726-734",
    year      = "2020",
    doi       = "",
  }

• Model AI Assignments 2020.
  Todd W.Neller, Stephen Keeley, Michael Guerzhoy, Wolfgang Hoenig, Jiaoyang Li, Sven Koenig, Ameet Soni, Krista Thomason, Lisa Zhang, Bibin Sebatian, Cinjon Resnick, Avital Oliver, Surya Bhupatiraju, Kumar Krishna Agrawal, James Allingham, Sejong Yoon, Johnathan Chen, Tom Larsen, Marion Neumann, Narges Norouzi, Ryan Hausen, Matthew Evett.
  Symposium on Educational Advances in Artificial Intelligence (EAAI), pages 13509-13511, 2020.
  [bibtex] [publisher] [project webpage]

  @inproceedings{ EAAI20,
    author    = "Todd W.Neller and Stephen Keeley and Michael Guerzhoy and Wolfgang Hoenig and Jiaoyang Li and Sven Koenig and Ameet Soni and Krista Thomason and Lisa Zhang and Bibin Sebatian and Cinjon Resnick and Avital Oliver and Surya Bhupatiraju and Kumar Krishna Agrawal and James Allingham and Sejong Yoon and Johnathan Chen and Tom Larsen and Marion Neumann and Narges Norouzi and Ryan Hausen and Matthew Evett",
    title     = "Model AI Assignments 2020",
    booktitle = "Proceedings of the Symposium on Educational Advances in Artificial Intelligence (EAAI)",
    pages     = "13509-13511",
    year      = "2020",
    doi       = "10.1609/aaai.v34i09.7072",
  }

• utex Propagation for SAT-based Multi-Agent Path Finding.
  Pavel Surynek, Jiaoyang Li, Han Zhang, T. K. Satish Kumar, Sven Koenig.
  International Conference on Principles and Practice of Multi-Agent Systems (PRIMA), pages 248-258, 2020.
  [bibtex] [publisher]

  @inproceedings{ SurynekPRIMA20,
    author    = "Pavel Surynek and Jiaoyang Li and Han Zhang and T. K. Satish Kumar and Sven Koenig",
    title     = "utex Propagation for SAT-based Multi-Agent Path Finding",
    booktitle = "Proceedings of the International Conference on Principles and Practice of Multi-Agent Systems (PRIMA)",
    pages     = "248-258",
    year      = "2020",
    doi       = "10.1007/978-3-030-69322-0_16",
  }

2019

• Improved Heuristics for Conflict-Based Search for Multi-Agent Path Finding.
  Jiaoyang Li, Ariel Felner, Eli Boyarski, Hang Ma, Sven Koenig.
  International Joint Conference on Artificial Intelligence (IJCAI), pages 442-449, 2019.
  A short version appeared at Symposium on Combinatorial Search (SoCS), pages 182-183, 2019.
  [bibtex] [publisher] [code] [poster] [slides]

  @inproceedings{ LiIJCAI19,
    author    = "Jiaoyang Li and Ariel Felner and Eli Boyarski and Hang Ma and Sven Koenig",
    title     = "Improved Heuristics for Conflict-Based Search for Multi-Agent Path Finding",
    booktitle = "Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI)",
    pages     = "442-449",
    year      = "2019",
    doi       = "10.24963/ijcai.2019/63",
  }

• Scheduling and Airport Taxiway Path Planning under Uncertainty.
  Jiaoyang Li, Han Zhang, Mimi Gong, Zi Liang, Weizi Liu, Zhongyi Tong, Liangchen Yi, Robert Morris, Corina Pasareanu, Sven Koenig.
  AIAA Aviation Forum (AIAA), 2019.
  [bibtex] [publisher] [code]

  @inproceedings{ LiAIAA19,
    author    = "Jiaoyang Li and Han Zhang and Mimi Gong and Zi Liang and Weizi Liu and Zhongyi Tong and Liangchen Yi and Robert Morris and Corina Pasareanu and Sven Koenig",
    title     = "Scheduling and Airport Taxiway Path Planning under Uncertainty",
    booktitle = "Proceedings of the AIAA Aviation Forum (AIAA)",
    pages     = "",
    year      = "2019",
    doi       = "10.2514/6.2019-2930",
  }

• Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks.
  Roni Stern, Nathan Sturtevant, Ariel Felner, Sven Koenig, Hang Ma, Thayne T. Walker, Jiaoyang Li, Dor Atzmon, Liron Cohen, T. K. Satish Kumar, Eli Boyarski, Roman Barták.
  Symposium on Combinatorial Search (SoCS), pages 151-159, 2019.
  [bibtex] [publisher]

  @inproceedings{ SternSoCS19,
    author    = "Roni Stern and Nathan Sturtevant and Ariel Felner and Sven Koenig and Hang Ma and Thayne T. Walker and Jiaoyang Li and Dor Atzmon and Liron Cohen and T. K. Satish Kumar and Eli Boyarski and Roman Barták",
    title     = "Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks",
    booktitle = "Proceedings of the Symposium on Combinatorial Search (SoCS)",
    pages     = "151-159",
    year      = "2019",
    doi       = "10.1609/socs.v10i1.18510",
  }

• Using FastMap to Solve Graph Problems in a Euclidean Space.
  Jiaoyang Li, Ariel Felner, Sven Koenig, T. K. Satish Kumar.
  International Conference on Automated Planning and Scheduling (ICAPS), pages 273-278, 2019.
  [bibtex] [publisher] [slide]

  @inproceedings{ LiICAPS19fastmap,
    author    = "Jiaoyang Li and Ariel Felner and Sven Koenig and T. K. Satish Kumar",
    title     = "Using FastMap to Solve Graph Problems in a Euclidean Space",
    booktitle = "Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS)",
    pages     = "273-278",
    year      = "2019",
    doi       = "10.1609/icaps.v29i1.3488",
  }

• Disjoint Splitting for Multi-Agent Path Finding with Conflict-Based Search.
  Jiaoyang Li, Daniel Harabor, Peter J. Stuckey, Ariel Felner, Hang Ma, Sven Koenig.
  International Conference on Automated Planning and Scheduling (ICAPS), pages 279-283, 2019.
  [bibtex] [publisher] [poster] [slides]

  @inproceedings{ LiICAPS19disjoint,
    author    = "Jiaoyang Li and Daniel Harabor and Peter J. Stuckey and Ariel Felner and Hang Ma and Sven Koenig",
    title     = "Disjoint Splitting for Multi-Agent Path Finding with Conflict-Based Search",
    booktitle = "Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS)",
    pages     = "279-283",
    year      = "2019",
    doi       = "10.1609/icaps.v29i1.3487",
  }

• Task and Path Planning for Multi-Agent Pickup and Delivery.
  Minghua Liu, Hang Ma, Jiaoyang Li, Sven Koenig.
  International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), pages 1152-1160, 2019.
  [bibtex] [publisher]

  @inproceedings{ LiuAAMAS19,
    author    = "Minghua Liu and Hang Ma and Jiaoyang Li and Sven Koenig",
    title     = "Task and Path Planning for Multi-Agent Pickup and Delivery",
    booktitle = "Proceedings of the International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS)",
    pages     = "1152-1160",
    year      = "2019",
    doi       = "",
  }

• Symmetry-Breaking Constraints for Grid-Based Multi-Agent Path Finding.
  Jiaoyang Li, Daniel Harabor, Peter J. Stuckey, Hang Ma, Sven Koenig.
  AAAI Conference on Artificial Intelligence (AAAI), pages 6087-6095, 2019.
  A short version appeared at Symposium on Combinatorial Search (SoCS), pages 184-185, 2019.
  [bibtex] [publisher] [code] [poster] [slides]

  @inproceedings{ LiAAAI19symmetry,
    author    = "Jiaoyang Li and Daniel Harabor and Peter J. Stuckey and Hang Ma and Sven Koenig",
    title     = "Symmetry-Breaking Constraints for Grid-Based Multi-Agent Path Finding",
    booktitle = "Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)",
    pages     = "6087-6095",
    year      = "2019",
    doi       = "10.1609/aaai.v33i01.33016087",
  }

• Multi-Agent Path Finding for Large Agents.
  Jiaoyang Li, Pavel Surynek, Ariel Felner, Hang Ma, T. K. Satish Kumar, Sven Koenig.
  AAAI Conference on Artificial Intelligence (AAAI), pages 7627-7634, 2019.
  [bibtex] [publisher] [poster] [slides]

  @inproceedings{ LiAAAI19large,
    author    = "Jiaoyang Li and Pavel Surynek and Ariel Felner and Hang Ma and T. K. Satish Kumar and Sven Koenig",
    title     = "Multi-Agent Path Finding for Large Agents",
    booktitle = "Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)",
    pages     = "7627-7634",
    year      = "2019",
    doi       = "10.1609/aaai.v33i01.33017627",
  }

• Searching with Consistent Prioritization for Multi-Agent Path Finding.
  Hang Ma, Daniel Harabor, Peter J. Stuckey, Jiaoyang Li, Sven Koenig.
  AAAI Conference on Artificial Intelligence (AAAI), pages 7643-7650, 2019.
  A short version appeared at Symposium on Combinatorial Search (SoCS), pages 188-189, 2019.
  [bibtex] [publisher] [code]

  @inproceedings{ MaAAAI19,
    author    = "Hang Ma and Daniel Harabor and Peter J. Stuckey and Jiaoyang Li and Sven Koenig",
    title     = "Searching with Consistent Prioritization for Multi-Agent Path Finding",
    booktitle = "Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)",
    pages     = "7643-7650",
    year      = "2019",
    doi       = "10.1609/aaai.v33i01.33017643",
  }

2018

• Multi-Agent Path Finding with Deadlines.
  Hang Ma, Glenn Wagner, Ariel Felner, Jiaoyang Li, T. K. Satish Kumar, Sven Koenig.
  International Joint Conference on Artificial Intelligence (IJCAI), pages 417-423, 2018.
  A short version appeared at International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), pages 2004-2006, 2019.
  [bibtex] [publisher]

  @inproceedings{ MaIJCAI18,
    author    = "Hang Ma and Glenn Wagner and Ariel Felner and Jiaoyang Li and T. K. Satish Kumar and Sven Koenig",
    title     = "Multi-Agent Path Finding with Deadlines",
    booktitle = "Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI)",
    pages     = "417-423",
    year      = "2018",
    doi       = "",
  }

• Adding Heuristics to Conflict-Based Search for Multi-Agent Path Finding.
  Ariel Felner, Jiaoyang Li, Eli Boyarski, Hang Ma, Liron Cohen, T. K. Satish Kumar, Sven Koenig.
  International Conference on Automated Planning and Scheduling (ICAPS), pages 83-87, 2018.
  [bibtex] [publisher] [code] [talk]

  @inproceedings{ FelnerICAPS18,
    author    = "Ariel Felner and Jiaoyang Li and Eli Boyarski and Hang Ma and Liron Cohen and T. K. Satish Kumar and Sven Koenig",
    title     = "Adding Heuristics to Conflict-Based Search for Multi-Agent Path Finding",
    booktitle = "Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS)",
    pages     = "83-87",
    year      = "2018",
    doi       = "10.1609/icaps.v28i1.13883",
  }

2017

• Lifelong Multi-Agent Path Finding for Online Pickup and Delivery Tasks.
  Hang Ma, Jiaoyang Li, T. K. Satish Kumar, Sven Koenig.
  International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), pages 837-845, 2017.
  [bibtex] [publisher]

  @inproceedings{ MaAAMAS17,
    author    = "Hang Ma and Jiaoyang Li and T. K. Satish Kumar and Sven Koenig",
    title     = "Lifelong Multi-Agent Path Finding for Online Pickup and Delivery Tasks",
    booktitle = "Proceedings of the International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS)",
    pages     = "837-845",
    year      = "2017",
    doi       = "",
  }

Preprints

• Cooperative Task and Motion Planning for Multi-Arm Assembly Systems.
  Jingkai Chen, Jiaoyang Li*, Yijiang Huang*, Caelan Garrett, Dawei Sun, Chuchu Fan, Andreas Hofmann, Caitlin Mueller, Sven Koenig, Brian C. Williams.
  arXiv, 2022.
  [bibtex] [publisher]

  @misc{ Chen22,
    author    = "Jingkai Chen and Jiaoyang Li and Yijiang Huang and Caelan Garrett and Dawei Sun and Chuchu Fan and Andreas Hofmann and Caitlin Mueller and Sven Koenig and Brian C. Williams",
    title     = "Cooperative Task and Motion Planning for Multi-Arm Assembly Systems",
    publisher   = "arXiv",
    year      = "2022",
    doi       = "10.48550/ARXIV.2203.02475",
  }

• Multi-Robot Routing with Time Windows: A Column Generation Approach.
  Naveed Haghani, Jiaoyang Li, Sven Koenig, Gautam Kunapuli, Claudio Contardo, Amelia Regan, Julian Yarkony.
  arXiv, 2021.
  [bibtex] [publisher]

  @misc{ Haghani21,
    author    = "Naveed Haghani and Jiaoyang Li and Sven Koenig and Gautam Kunapuli and Claudio Contardo and Amelia Regan and Julian Yarkony",
    title     = "Multi-Robot Routing with Time Windows: A Column Generation Approach",
    publisher   = "arXiv",
    year      = "2021",
    doi       = "110.48550/ARXIV.2103.08835",
  }

PhD Thesis

• Efficient and Effective Techniques for Large-Scale Multi-Agent Path Finding. (Best Dissertation Awards by ICAPS, AAMAS, and USC Viterbi School of Engineering)
  Jiaoyang Li.
  PhD thesis, Department of Computer Science, University of Southern California, Los Angeles (California), 2022.
  [bibtex] [pdf]

  @phdthesis{LiPhD22,
    title     = {Efficient and Effective Techniques for Large-Scale Multi-Agent Path Finding},
    author    = {Jiaoyang Li},
    school    = {University of Southern California},
    year      = {2022}
  }