Publications
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)},
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 21th International Joint Conference on Autonomous Agents and Mult-Agent Systems (AAMAS)},
year = {2022}
}
@inproceedings{LiAAAI22,
author = {Jiaoyang Li and Zhe Chen and Daniel Harabor and Peter J. Stuckey and Sven Koenig},
title = {MAPF-LNS2: Repairing Multi-Agent Path Finding via Large Neighborhood Search},
booktitle = {Proceedings of the 36th AAAI Conference on Artificial Intelligence (AAAI)},
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 36th AAAI Conference on Artificial Intelligence (AAAI)},
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 36th AAAI Conference on Artificial Intelligence (AAAI)},
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 36th AAAI Conference on Artificial Intelligence (AAAI)},
year = {2022}
}
2021
@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{LiICJAI21,
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 30th International Joint Conference on Artificial Intelligence (IJCAI)},
pages = {4127--4135},
year = {2021}
}
- 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.
[demo] [code] [talk] [media] [bibtex]
@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 31th International Conference on Automated Planning and Scheduling (ICAPS)},
pages = {477--485},
year = {2021}
}
- Conflict-Based Increasing Cost Search.
Thayne Walker, Nathan R. Sturtevant, Han Zhang, Jiaoyang Li, Ariel Felner and T. K. Satish Kumar.
International Conference on Automated Planning and Scheduling (ICAPS), pages 385-395, 2021.
[bibtex]
@inproceedings{WalkerICAPS21,
author = {Thayne Walker and Nathan R. Sturtevant and Han Zhang and Jiaoyang Li and Ariel Felner and T. K. Satish Kumar},
title = {Conflict-Based Increasing Cost Search},
booktitle = {Proceedings of the 31th International Conference on Automated Planning and Scheduling (ICAPS)},
pages = {385--395},
year = {2021}
}
@inproceedings{LiAAAI21a,
author = {Jiaoyang Li and Wheeler Ruml and Sven Koenig},
title = { {EECBS}: Bounded-Suboptimal Search for Multi-Agent Path Finding},
booktitle = {Proceedings of the 35th AAAI Conference on Artificial Intelligence (AAAI)},
pages = {12353--12362},
year = {2021}
}
@inproceedings{LiAAAI21b,
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 35th AAAI Conference on Artificial Intelligence (AAAI)},
pages = {11272--11281},
year = {2021}
}
@inproceedings{ChenAAAI21a,
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{ChenAAAI21b,
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 35th 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}
}
- 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]
@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
- 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.
[talk] [bibtex]
@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 29th 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 29th 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 30th 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 30th International Conference on Automated Planning and Scheduling (ICAPS)},
pages = {323--332},
year = {2020}
}
@inproceedings{LiAAMAS20a,
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 19th International Joint Conference on Autonomous Agents and Mult-Agent Systems (AAMAS)},
pages = {726--734},
year = {2020}
}
- 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.
[website] [bibtex]
@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)},
year = {2020}
}
2019
@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 28th 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}
}
- 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.
[bibtex]
@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 12th International Symposium on Combinatorial Search (SoCS)},
pages = {151--159},
year = {2019}
}
@inproceedings{LiICAPS19a,
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 29th International Conference on Automated Planning and Scheduling (ICAPS)},
pages = {273--278},
year = {2019}
}
@inproceedings{LiICAPS19b,
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 29th 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 18th 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 18th International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS)},
pages = {2253--2255},
year = {2019}
}
@inproceedings{LiAAAI19a,
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 33rd {AAAI} Conference on Artificial Intelligence (AAAI)},
pages = {6087--6095},
year = {2019}
}
@inproceedings{LiAAAI19b,
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 33rd {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 33rd {AAAI} Conference on Artificial Intelligence (AAAI)},
pages = {7643--7650},
year = {2019}
}
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]
@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 27th 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 28th International Conference on Automated Planning and Scheduling (ICAPS)},
pages = {83--87},
year = {2018}
}
2017
@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 16th International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS)},
pages = {837--845},
year = {2017}
}
- Planning for Electric Taxi Charging System from the Perspective of Transprotation Energy Supply Chain: A Data-Driven Approach in Beijing.
Yinghao Jia, Huimiao Chen, Jiaoyang Li, Fang He, Meng Li, Zechun Hu and Zuo-Jun Max Shen.
IEEE Transportation Electrification Conference and Expo, Asia-Pacific (ITEC Asia-Pacific), pages 1-6, 2017. - Optimal Combinations and Variable Departure Intervals for Micro Bus System.
Jiaoyang Li, Jianming Hu and Yi Zhang.
Tsinghua Science and Technology, 22(3):282-292, 2017.