Publications

@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}
}

@inproceedings{PaulSoCS23,
  author    = {Adittyo Paul and Ying Feng and Jiaoyang Li},
  title     = {A Fast Rescheduling Algorithm for Real-Time Multi-Robot Coordination},
  booktitle = {Proceedings of the Symposium on Combinatorial Search (SoCS)},
  pages     = {175--176},
  year      = {2023}
}

@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}
}

@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}
}

@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}
}

@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}
}

@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}
}

@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}
}

@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},
  pages     = {103766},
  year      = {2022},
  doi       = {https://doi.org/10.1016/j.artint.2022.103766},
}

@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}
}

@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}
}

@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}
}

@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}
}

@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}
}

@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}
}

@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}
}

@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 Mult-Agent Systems (AAMAS)},
  pages     = {1464--1472},
  year      = {2022}
}

@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}
}

@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}
}

@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}
}

@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}
}

@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},
  pages     = {103574},
  year      = {2021},
  issn      = {0004-3702},
  doi       = {https://doi.org/10.1016/j.artint.2021.103574},
}

@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}
}

@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}
}

@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}
}

@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}
}

@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}
}

@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 35th AAAI Conference on Artificial Intelligence (AAAI)},
  pages     = {11237--11245},
  year      = {2021}
}

@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}
}

@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}
}

@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}
}

@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},
}

@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}
}

@inproceedings{BoyarskiIJCAI20,
  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}
}

@inproceedings{LiICAPS20,
  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}
}

@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}
}

@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 Mult-Agent Systems (AAMAS)},
  pages     = {726--734},
  year      = {2020}
}

@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}
}

@inproceedings{SurynekPRIMA20,
  author    = {Pavel Surynek and Jiaoyang Li and Han Zhang and T. K. Satish Kumar and Sven Koenig},
  title     = {Mutex 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}
}

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

@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},
    year      = {2019}
}

@inproceedings{SternSoCS19,
  author    = {Roni Stern and Nathan R. 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 Bart{\'{a}}k},
  title     = {Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks},
  booktitle = {Proceedings of the International Symposium on Combinatorial Search (SoCS)},
  pages     = {151--159},
  year      = {2019}
}

@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}
}

@inproceedings{LiICAPS19disjoint,
  author    = {Jiaoyang Li and Daniel Harabor and Peter J. Stuckey 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}
}

@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}
}

@inproceedings{WangAAMAS19,
  author    = {Jiangxing Wang and Jiaoyang Li and Hang Ma and Sven Koenig and T. K. Satish Kumar},
  title     = {A New Constraint Satisfaction Perspective on Multi-Agent Path Finding},
  booktitle = {Proceedings of the International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS)},
  pages     = {2253--2255},
  year      = {2019}
}

@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}
}

@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}
}

@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}
}

@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}
}

@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}
}

@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 Conference on Autonomous Agents and Multi-Agent Systems (AAMAS)},
  pages     = {837--845},
  year      = {2017}
}

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

@misc{Haghani21,
  doi = {10.48550/ARXIV.2103.08835},
  url = {https://arxiv.org/abs/2103.08835},
  author = {Haghani, Naveed and Li, Jiaoyang and Koenig, Sven and Kunapuli, Gautam and Contardo, Claudio and Regan, Amelia and Yarkony, Julian}, 
  title = {Multi-Robot Routing with Time Windows: A Column Generation Approach}, 
  publisher = {arXiv},
  year = {2021}
}

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