Publications
You can also find my articles on my Google Scholar profile.
2023 | 2022 | 2021 | 2020 | 2019 | 2018 | 2017 | Preprints | Thesis |
2023
- Multi-Robot Coordination and Layout Design for Automated Warehousing.
Yulun Zhang, Matthew C. Fontaine, Varun Bhatt, Stefanos Nikolaidis and Jiaoyang Li.
International Joint Conference on Artificial Intelligence (IJCAI), pages 5503-5511, 2023.
[arXiv] [bibtex] [code] [pdf] [publisher]
- A Fast Rescheduling Algorithm for Real-Time Multi-Robot Coordination (extended abstract).
Adittyo Paul, Ying Feng and Jiaoyang Li.
Symposium on Combinatorial Search (SoCS), pages 175-176, 2023.
[bibtex] [pdf] [publisher]
- Exact Anytime Multi-Agent Path Finding Using Branch-and-Cut-and-Price and Large Neighborhood Search.
Edward Lam, Daniel Harabor, Peter J. Stuckey and Jiaoyang Li.
International Conference on Automated Planning and Scheduling (ICAPS), pages 254-258, 2023.
[bibtex] [code] [pdf] [publisher]
- Beyond Pairwise Reasoning in Multi-Agent Path Finding.
Bojie Shen, Zhe Chen, Jiaoyang Li, Muhammad Aamir Cheema, Daniel Harabor and Peter J. Stuckey.
International Conference on Automated Planning and Scheduling (ICAPS), pages 384-392, 2023.
[bibtex] [code] [pdf] [publisher]
- Binary Branching Multi-Objective Conflict-Based Search for Multi-Agent Path Finding.
Zhongqiang Ren, Jiaoyang Li, Han Zhang, Sven Koenig, Sivakumar Rathinam and Howie Choset.
International Conference on Automated Planning and Scheduling (ICAPS), pages 361-369, 2023.
[bibtex] [code] [pdf] [publisher]
- Cost Splitting for Multi-Objective Conflict-Based Search.
Cheng Ge, Han Zhang, Jiaoyang Li and Sven Koenig.
International Conference on Automated Planning and Scheduling (ICAPS), pages 128-137, 2023.
[bibtex] [pdf] [publisher]
- Deadline-Aware Multi-Agent Tour Planning (Best Student Paper Honorable Mention).
Taoan Huang, Vikas Shivashankar, Michael Caldara, Joseph Durham, Jiaoyang Li, Bistra Dilkina and Sven Koenig.
International Conference on Automated Planning and Scheduling (ICAPS), pages 189-197, 2023.
[bibtex] [pdf] [pubsliher]
- Intersection Coordination with Priority-Based Search for Autonomous Vehicles.
Jiaoyang Li, The Anh Hoang, Eugene Lin, Hai L. Vu and Sven Koenig.
AAAI Conference on Artificial Intelligence (AAAI), pages 11578-11585, 2023.
[bibtex] [code] [pdf] [publisher]
2022
- Multi-Agent Path Finding with Mutex Propagation.
Han Zhang, Jiaoyang Li, Pavel Surynek, T. K. Satish Kumar and Sven Koenig.
Artificial Intelligence (AIJ), volume 311, page 1034766, 2022.
[bibtex] [publisher]
- Multi-Goal Multi-Agent Pickup and Delivery.
Qinghong Xu, Jiaoyang Li, Sven Koenig and Hang Ma.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 9964-9971, 2022.
[bibtex] [pdf] [publisher]
- A MIP-Based Approach for Multi-Robot Geometric Task-and-Motion Planning.
Hejia Zhang, Shao-Hung Chan, Jie Zhong, Jiaoyang Li, Sven Koenig and Stefanos Nikolaidis.
IEEE International Conference on Automation Science and Engineering (CASE), pages 2102-2109, 2022.
[bibtex] [pdf] [publisher]
- Which MAPF Model Works Best for Automated Warehousing?
Sumanth Varambally, Jiaoyang Li and Sven Koenig.
Symposium on Combinatorial Search (SoCS), pages 190-198, 2022.
[bibtex] [pdf] [publisher]
- Learning a Priority Ordering for Prioritized Planning in Multi-Agent Path Finding.
Shuyang Zhang, Jiaoyang Li, Taoan Huang, Sven Koenig and Bistra Dilkina.
Symposium on Combinatorial Search (SoCS), pages 208-216, 2022.
[bibtex] [pdf] [publisher]
- Multi-Train Path Finding Revisited.
Zhe Chen, Jiaoyang Li, Daniel Harabor, Peter J. Stuckey and Sven Koenig.
Symposium on Combinatorial Search (SoCS), pages 38-46, 2022.
[bibtex] [code] [pdf] [publisher]
- Mutex Propagation in Multi-Agent Path Finding for Large Agents (short paper).
Han Zhang, Yutong Li, Jiaoyang Li, T. K. Satish Kumar and Sven Koenig.
Symposium on Combinatorial Search (SoCS), pages 249-253, 2022.
[bibtex] [pdf] [publisher]
- Optimal and Bounded-Suboptimal Multi-Goal Task Assignment and Path Finding.
Xinyi Zhong, Jiaoyang Li, Sven Koenig and Hang Ma.
IEEE International Conference on Robotics and Automation (ICRA), pages 10731-10737, 2022.
[bibtex] [pdf] [publisher]
- Multi-Agent Path Finding for Precedence-Constrained Goal Sequences.
Han Zhang, Jingkai Chen, Jiaoyang Li, Brian Williams and Sven Koenig.
International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), pages 1464-1472, 2022.
[bibtex] [code] [pdf] [publisher]
- MAPF-LNS2: Fast Repairing for Multi-Agent Path Finding via Large Neighborhood Search.
Jiaoyang Li, Zhe Chen, Daniel Harabor, Peter J. Stuckey and Sven Koenig.
AAAI Conference on Artificial Intelligence (AAAI), pages 10256-10265, 2022.
[bibtex] [code] [pdf] [publisher]
- Anytime Multi-Agent Path Finding via Machine Learning-Guided Large Neighborhood Search.
Taoan Huang, Jiaoyang Li, Sven Koenig and Bistra Dilkina.
AAAI Conference on Artificial Intelligence (AAAI), pages 9368-9376, 2022.
[bibtex] [pdf] [publisher]
- Shard Systems: Scalable, Robust and Persistent Multi-Agent Path Finding with Performance Guarantees.
Christopher Leet, Jiaoyang Li and Sven Koenig.
AAAI Conference on Artificial Intelligence (AAAI), pages 9386-9395, 2022.
[bibtex] [pdf] [publisher]
- Flex Distribution for Bounded-Suboptimal Multi-Agent Path Finding.
Shao-Hung Chan, Jiaoyang Li, Graeme Gange, Daniel Harabor, Peter J. Stuckey and Sven Koenig.
AAAI Conference on Artificial Intelligence (AAAI), pages 9313-9322, 2022.
[bibtex] [pdf] [publisher]
2021
- Pairwise Symmetry Reasoning for Multi-Agent Path Finding Search.
Jiaoyang Li, Daniel Harabor, Peter J. Stuckey, Hang Ma, Graeme Gange and Sven Koenig.
Artificial Intelligence (AIJ), volume 301, page 103574, 2021.
[bibtex] [code] [pdf] [publisher]
- Anytime Multi-Agent Path Finding via Large Neighborhood Search.
Jiaoyang Li, Zhe Chen, Daniel Harabor, Peter J. Stuckey and 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] [code] [poster] [publisher]
- Scalable Rail Planning and Replanning: Winning the 2020 Flatland Challenge (Winner of the NeurIPS’20 Flatland Challenge).
Jiaoyang Li, Zhe Chen, Yi Zheng, Shao-Hung Chan, Daniel Harabor, Peter J. Stuckey, Hang Ma and 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] [code] [demo] [media] [pdf] [publisher] [talk]
- Conflict-Based Increasing Cost Search.
Thayne Walker, Nathan R. Sturtevant, Ariel Felner, Han Zhang, Jiaoyang Li and T. K. Satish Kumar.
International Conference on Automated Planning and Scheduling (ICAPS), pages 385-395, 2021.
[bibtex] [publisher]
- EECBS: A Bounded-Suboptimal Search for Multi-Agent Path Finding.
Jiaoyang Li, Wheeler Ruml and Sven Koenig.
AAAI Conference on Artificial Intelligence (AAAI), pages 12353-12362, 2021.
[publisher] [pdf] [talk] [code] [bibtex]
- Lifelong Multi-Agent Path Finding in Large-Scale Warehouses.
Jiaoyang Li, Andrew Tinka, Scott Kiesel, Joseph W. Durham, T. K. Satish Kumar and 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] [code] [publisher] [slides] [talk]
- Scalable and Safe Multi-Agent Motion Planning with Nonlinear Dynamics and Bounded Disturbances.
Jingkai Chen, Jiaoyang Li, Chuchu Fan and Brian Williams.
AAAI Conference on Artificial Intelligence (AAAI), pages 11237-11245, 2021.
[bibtex] [code] [preprint] [publisher] [talk]
- Symmetry Breaking for k-Robust Multi-Agent Path Finding.
Zhe Chen, Daniel Harabor, Jiaoyang Li and Peter J. Stuckey.
AAAI Conference on Artificial Intelligence (AAAI), pages 12267-12274, 2021.
[bibtex] [code] [preprint] [publisher]
- 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 and Sven Koenig.
ICAPS Workshop on Hierarchical Planning (HPLAN), 2021.
A short version appeared at Symposium on Combinatorial Search (SoCS), pages 209-211, 2021.
[bibtex] [pdf]
- Nested ECBS for Bounded-Suboptimal Multi-Agent Path Finding.
Shao-Hung Chan, Jiaoyang Li, Daniel Harabor, Peter J. Stuckey, Graeme Gange, Liron Cohen and Sven Koenig.
IJCAI Workshop on Multi-Agent Path Finding (WoMAPF), 2020.
[bibtex] [pdf]
- 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 and Sharada Mohanty.
NeurIPS 2020 Competition and Demonstration Track, PMLR, volume 133, pages 275-301, 2021.
[bibtex] [publisher]
2020
- Multi-Directional Heuristic Search.
Dor Atzmon, Jiaoyang Li, Ariel Felner, Eliran Nachmani, Shahaf Shperberg, Nathan Sturtevant and 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] [talk]
- Iterative-Deepening Conflict-Based Search.
Eli Boyarski, Ariel Felner, Daniel Harabor, Peter J. Stuckey, Liron Cohen, Jiaoyang Li and Sven Koenig.
International Joint Conference on Artificial Intelligence (IJCAI), pages 4084-4090, 2020.
[bibtex] [code] [publisher]
- New Techniques for Pairwise Symmetry Breaking in Multi-Agent Path Finding.
Jiaoyang Li, Graeme Gange, Daniel Harabor, Peter J. Stuckey, Hang Ma and 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] [code] [poster] [long talk] [publisher] [short talk] [slides]
- Multi-Agent Path Finding with Mutex Propagation (Outstanding Student Paper).
Han Zhang, Jiaoyang Li, Pavel Surynek, Sven Koenig and T. K. Satish Kumar.
International Conference on Automated Planning and Scheduling (ICAPS), pages 323-332, 2020.
[bibtex] [code] [publisher] [talk]
- Moving Agents in Formation in Congested Environments.
Jiaoyang Li, Kexuan Sun, Hang Ma, Ariel Felner, T. K. Satish Kumar and Sven Koenig.
International Joint Conference on Autonomous Agents and Mult-Agent Systems (AAMAS), pages 726-734, 2020.
A short version appeared at Symposium on Combinatorial Search (SoCS), pages 131-132, 2020.
[bibtex] [long talk] [publisher] [slides] [short talk]
- 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 and Matthew Evett.
Symposium on Educational Advances in Artificial Intelligence (EAAI), pages 13509-13511, 2020.
[bibtex] [publisher] [website]
- Mutex Propagation for SAT-based Multi-Agent Path Finding.
Pavel Surynek, Jiaoyang Li, Han Zhang, T. K. Satish Kumar and Sven Koenig. International Conference on Principles and Practice of Multi-Agent Systems (PRIMA), pages 248-258, 2020.
[bibtex] [pdf] [publisher]
2019
- Improved Heuristics for Conflict-Based Search for Multi-Agent Path Finding.
Jiaoyang Li, Ariel Felner, Eli Boyarski, Hang Ma and 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.
[publisher] [code] [poster] [slides] [code] [bibtex]
- 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 and Sven Koenig.
AIAA Aviation Forum (AIAA), 2019.
[publisher] [code] [bibtex]
- Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks (position paper).
Roni Stern, Nathan R. Sturtevant, Ariel Felner, Sven Koenig, Hang Ma, , Thayne T. Walker, Jiaoyang Li, Dor Atzmon, Liron Cohen, T. K. Satish Kumar, Eli Boyarski and Roman Barták.
Symposium on Combinatorial Search (SoCS), pages 151-159, 2019.
[publisher] [bibtex]
- Using FastMap to Solve Graph Problems in a Euclidean Space (short paper).
Jiaoyang Li, Ariel Felner, Sven Koenig and T. K. Satish Kumar.
International Conference on Automated Planning and Scheduling (ICAPS), pages 273-278, 2019.
[publisher] [slides] [bibtex]
- Disjoint Splitting for Multi-Agent Path Finding with Conflict-Based Search (short paper).
Jiaoyang Li, Daniel Harabor, Peter J. Stuckey, Ariel Felner, Hang Ma and Sven Koenig.
International Conference on Automated Planning and Scheduling (ICAPS), pages 279-283, 2019.
[publisher] [poster] [slides] [bibtex]
- Task and Path Planning for Multi-Agent Pickup and Delivery.
Minghua Liu, Hang Ma, Jiaoyang Li and Sven Koenig.
International Joint Conference on Autonomous Agents and Mult-Agent Systems (AAMAS), pages 1152-1160, 2019.
[publisher] [bibtex]
- A New Constraint Satisfaction Perspective on Multi-Agent Path Finding3.
Jiangxing Wang, Jiaoyang Li, Hang Ma, Sven Koenig and T. K. Satish Kumar.
International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), pages 2253-2255, 2019.
[publisher] [bibtex]
- Symmetry-Breaking Constraints for Grid-Based Multi-Agent Path Finding.
Jiaoyang Li, Daniel Harabor, Peter J. Stuckey, Hang Ma and 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.
[publisher] [poster] [slides] [code] [bibtex]
- Multi-Agent Path Finding for Large Agents.
Jiaoyang Li, Pavel Surynek, Ariel Felner, Hang Ma, T. K. Satish Kumar and Sven Koenig.
AAAI Conference on Artificial Intelligence (AAAI), pages 7627-7634, 2019.
A short version appeared at Symposium on Combinatorial Search (SoCS), pages 186-187, 2019.
[publisher] [poster] [slides] [bibtex]
- Searching with Consistent Prioritization for Multi-Agent Path Finding.
Hang Ma, Daniel Harabor, Peter J. Stuckey, Jiaoyang Li and 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] [code] [publisher]
2018
- Multi-Agent Path Finding with Deadlines.
Hang Ma, Glenn Wagner, Ariel Felner, Jiaoyang Li, T. K. Satish Kumar and 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]
- Adding Heuristics to Conflict-Based Search for Multi-Agent Path Finding (short paper).
Ariel Felner, Jiaoyang Li, Eli Boyarski, Hang Ma, Liron Cohen, T. K. Satish Kumar and Sven Koenig.
International Conference on Automated Planning and Scheduling (ICAPS), pages 83-87, 2018.
[bibtex] [code] [publisher] [talk]
2017
- Lifelong Multi-Agent Path Finding for Online Pickup and Delivery Tasks.
Hang Ma, Jiaoyang Li, T. K. Satish Kumar and Sven Koenig.
International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), pages 837-845, 2017.
[bibtex] [publisher]
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:2203.02475, 2022.
[bibtex] [arxiv]
- Multi-Robot Routing with Time Windows: A Column Generation Approach.
Naveed Haghani, Jiaoyang Li, Sven Koenig, Gautam Kunapuli, Claudio Contardo, Amelia Regan and Julian Yarkony.
arXiv:2103.08835, 2021.
[bibtex] [arxiv]
PhD Thesis
- Efficient and Effective Techniques for Large-Scale Multi-Agent Path Finding.
Jiaoyang Li.
PhD thesis, Department of Computer Science, University of Southern California, Los Angeles (California), 2022.
[bibtex] [pdf]