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portfolio
Symmetry Reasoning for Multi-Agent Path Finding
Multi-Agent Path Finding (MAPF) is a challenging combinatorial problem that asks us to plan collision-free paths for team of cooperative agents. One of the reasons MAPF problems are so hard to solve is due to a phenomena called pairwise path symmetry, which occurs when two agents have many equivalent paths, all of which appear promising, but which are pairwise incompatible because they result in a collision. The symmetry arises commonly in practice and can produce an exponential explosion in the space of possible collision resolutions, leading to unacceptable runtimes for currently state-of-the-art MAPF algorithms that employ heuristic search, such as Conflict-based Search (CBS). To break symmetries, we propose a variety of constraint-based reasoning techniques, to detect the symmetries as they arise and to efficiently eliminate, in a single branching step, all permutations of two currently assigned but pairwise incompatible paths.
Relevant publications:
publications
Lifelong Multi-Agent Path Finding for Online Pickup and Delivery Tasks
Published in International Conference on Autonomous Agents and Multi-Agent Systems, 1900
This paper is about the number 3. The number 4 is left for future work.
Optimal Combinations and Variable Departure Intervals for Micro Bus System
Published in Tsinghua Science and Technology, 2017
Recommended citation: Jiaoyang Li, Jianming Hu and Yi Zhang. (2017). "Optimal Combinations and Variable Departure Intervals for Micro Bus System." Tsinghua Science and Technology. 22(3). http://jiaoyangli.github.io/files/2017-TST.pdf
Planning for Eletric Taxi Charging System from the Perspective of Transprotation Energy Supply Chain: A Data-Driven Approach in Beijing
Published in IEEE Transportation Electrification Conference and Expo, Asia-Pacific (ITEC Asia-Pacific), 2017
Recommended citation: Yinghao Jia, Huimiao Chen, Jiaoyang Li, Fang He, Meng Li, Zechun Hu and Zuo-Jun Max Shen. (2017). "Planning for Eletric Taxi Charging System from the Perspective of Transprotation Energy Supply Chain: A Data-Driven Approach in Beijing." IEEE Transportation Electrification Conference and Expo, Asia-Pacific (ITEC Asia-Pacific). 1(2).
Adding Heuristics to Conflict-Based Search for Multi-Agent Path Finding
Published in ICAPS, 2018
Recommended citation: Ariel Felner, Jiaoyang Li, Eli Boyarski, Hang Ma, Liron Cohen, T. K. Satish Kumar and Sven Koenig. (2017). "Adding Heuristics to Conflict-Based Search for Multi-Agent Path Finding." In Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS). (in print).
Multi-Agent Path Finding with Deadlines: Preliminary Results
Published in AAMAS, 2018
Recommended citation: Hang Ma, Glenn Wager, Ariel Felner, Jiaoyang Li, T. K. Satish Kumar and Sven Koenig. (2018). "Multi-Agent Path Finding with Deadlines: Preliminary Results." In Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS). (in print).
Conflict-Tolerant and Conflict-Free Multi-Agent Meeting
Published in , 1900
Multi-Directional Heuristic Search
Published in , 1900
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
Published in , 1900
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]
Flex Distribution for Bounded-Suboptimal Multi-Agent Path Finding
Published in , 1900
Nested ECBS for Bounded-Suboptimal Multi-Agent Path Finding
Published in , 1900
Symmetry Breaking for k-Robust Multi-Agent Path Finding
Published in , 1900
Zhe Chen, Daniel Harabor, Jiaoyang Li and Peter J. Stuckey.
AAAI Conference on Artificial Intelligence (AAAI), pages 12267-12274, 2021.
[bibtex] [code] [preprint] [publisher]
Scalable and Safe Multi-Agent Motion Planning with Nonlinear Dynamics and Bounded Disturbances
Published in , 1900
Traffic Flow Optimisation for Lifelong Multi-Agent Path Finding
Published in , 1900
Zhe Chen, Daniel Harabor, Jiaoyang Li and Peter Stuckey.
AAAI Conference on Artificial Intelligence (AAAI), pages 20674-20682, 2024.
[arXiv] [bibtex] [code] [publisher]
Multi-Train Path Finding Revisited
Published in , 1900
Zhe Chen, Jiaoyang Li, Daniel Harabor, Peter J. Stuckey and Sven Koenig.
Symposium on Combinatorial Search (SoCS), pages 38-46, 2022.
[publisher] [pdf] [code] [bibtex]
Optimal Task Assignment and Path Planning using Conflict-Based Search with Precedence and Temporal Constraints (extended abstract)
Published in , 1900
Yu Quan Chong, Jiaoyang Li and Katia Sycara.
International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), pages 2210-2212, 2024.
[bibtex]
Model AI Assignments 2020
Published in , 1900
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]<div id="bibtex-EAAI20" style="display:none">
@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}
}
</div>
Adding Heuristics to Conflict-Based Search for Multi-Agent Path Finding
Published in , 1900
A Real-Time Rescheduling Algorithm for Multi-robot Plan Execution
Published in , 1900
Ying Feng, Adittyo Paul, Zhe Chen and 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.
[arXiv] [bibtex] [publisher]
Scalable Mechanism Design for Multi-Agent Path Finding
Published in , 1900
Cost Splitting for Multi-Objective Conflict-Based Search
Published in , 1900
Anytime Multi-Agent Path Finding via Machine Learning-Guided Large Neighborhood Search
Published in , 1900
Deadline-Aware Multi-Agent Tour Planning
Published in , 1900
Scaling Lifelong Multi-Agent Path Finding to More Realistic Settings: Research Challenges and Opportunities
Published in , 1900
Exact Anytime Multi-Agent Path Finding Using Branch-and-Cut-and-Price and Large Neighborhood Search
Published in , 1900
Flatland Competition 2020: MAPF and MARL for Efficient Train Coordination on a Grid World
Published in , 1900
Shard Systems: Scalable, Robust and Persistent Multi-Agent Path Finding with Performance Guarantees
Published in , 1900
Christopher Leet, Jiaoyang Li and Sven Koenig.
AAAI Conference on Artificial Intelligence (AAAI), pages 9386-9395, 2022.
[pdf] [publisher] [bibtex]
Multi-Agent Path Finding for Large Agents
Published in , 1900
Symmetry-Breaking Constraints for Grid-Based Multi-Agent Path Finding
Published in , 1900
EECBS: A Bounded-Suboptimal Search for Multi-Agent Path Finding
Published in , 1900
Lifelong Multi-Agent Path Finding in Large-Scale Warehouses
Published in , 1900
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]
MAPF-LNS2: Fast Repairing for Multi-Agent Path Finding via Large Neighborhood Search
Published in , 1900
Intersection Coordination with Priority-Based Search for Autonomous Vehicles
Published in , 1900
Moving Agents in Formation in Congested Environments
Published in , 1900
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]
Scheduling and Airport Taxiway Path Planning under Uncertainty
Published in , 1900
A Pairwise Symmetry Reasoning for Multi-Agent Path Finding Search
Published in , 1900
Disjoint Splitting for Multi-Agent Path Finding with Conflict-Based Search
Published in , 1900
(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]
Using FastMap to Solve Graph Problems in a Euclidean Space
Published in , 1900
(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]
New Techniques for Pairwise Symmetry Breaking in Multi-Agent Path Finding
Published in , 1900
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]
Scalable Rail Planning and Replanning: Winning the 2020 Flatland Challenge
Published in , 1900
Improved Heuristics for Conflict-Based Search for Multi-Agent Path Finding
Published in , 1900
Anytime Multi-Agent Path Finding via Large Neighborhood Search
Published in , 1900
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]
Efficient and Effective Techniques for Large-Scale Multi-Agent Path Finding
Published in , 1900
Task and Path Planning for Multi-Agent Pickup and Delivery
Published in , 1900
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]
Searching with Consistent Prioritization for Multi-Agent Path Finding
Published in , 1900
Lifelong Multi-Agent Path Finding for Online Pickup and Delivery Tasks
Published in , 1900
Multi-Agent Path Finding with Deadlines
Published in , 1900
A Fast Rescheduling Algorithm for Real-Time Multi-Robot Coordination (extended abstract)
Published in , 1900
Adittyo Paul, Ying Feng and Jiaoyang Li.
Symposium on Combinatorial Search (SoCS), pages 175-176, 2023.
[bibtex] [pdf] [publisher]
Binary Branching Multi-Objective Conflict-Based Search for Multi-Agent Path Finding
Published in , 1900
Accelerating Search-Based Planning for Multi-Robot Manipulation by Leveraging Online-Generated Experiences
Published in , 1900
(Best Student Paper).
Yorai Shaoul, Itamar Mishani, Maxim Likhachev and Jiaoyang Li.
International Conference on Automated Planning and Scheduling (ICAPS), pages 523-531, 2024.
[arXiv] [bibtex] [publisher]
Unconstraining Multi-Robot Manipulation: Enabling Arbitrary Constraints in ECBS with Bounded Sub-Optimality
Published in , 1900
Yorai Shaoul, Rishi Veerapaneni, Maxim Likhachev and Jiaoyang Li.
Symposium on Combinatorial Search (SoCS), pages 109-117, 2024. [arXiv] [bibtex] [publisher]
Beyond Pairwise Reasoning in Multi-Agent Path Finding
Published in , 1900
Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks
Published in , 1900
(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]
Bidirectional Temporal Plan Graph: Enabling Switchable Passing Orders for More Efficient Multi-Agent Path Finding Plan Execution
Published in , 1900
Mutex Propagation for SAT-based Multi-Agent Path Finding
Published in , 1900
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]
Solving Multi-Agent Target Assignment and Path Finding with a Single Constraint Tree
Published in , 1900
ITA-ECBS: A Bounded-Suboptimal Algorithm for The Combined Target-Assignment and Path-Finding Problem
Published in , 1900
Which MAPF Model Works Best for Automated Warehousing?
Published in , 1900
Improving Learnt Local MAPF Policies with Heuristic Search
Published in , 1900
Rishi Veerapaneni*, Qian Wang*, Kevin Ren*, Arthur Jakobsson*, Jiaoyang Li and Maxim Likhachev.
International Conference on Automated Planning and Scheduling (ICAPS), pages 597-606, 2024.
[arXiv] [bibtex] [publisher]
Conflict-Based Increasing Cost Search
Published in , 1900
A New Constraint Satisfaction Perspective on Multi-Agent Path Finding
Published in , 1900
(extended abstract).
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]
MAPF in 3D Warehouses: Dataset and Analysis
Published in , 1900
Efficient Approximate Search for Multi-Objective Multi-Agent Path Finding
Published in , 1900
Multi-Goal Multi-Agent Pickup and Delivery
Published in , 1900
Multi-Agent Motion Planning With Bézier Curve Optimization Under Kinodynamic Constraints
Published in , 1900
Multi-Agent Path Finding for Precedence-Constrained Goal Sequences
Published in , 1900
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]
Multi-Agent Path Finding with Mutex Propagation
Published in , 1900
Multi-Robot Geometric Task-and-Motion Planning for Collaborative Manipulation Tasks
Published in , 1900
A MIP-Based Approach for Multi-Robot Geometric Task-and-Motion Planning
Published in , 1900
A Hierarchical Approach to Multi-Agent Path Finding
Published in , 1900
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.
[pdf] [bibtex]
Multi-Agent Path Finding with Mutex Propagation
Published in , 1900
(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]
Multi-Robot Coordination and Layout Design for Automated Warehousing
Published in , 1900
Guidance Graph Optimization for Lifelong Multi-Agent Path Finding
Published in , 1900
Arbitrarily Scalable Environment Generators via Neural Cellular Automata
Published in , 1900
Learning a Priority Ordering for Prioritized Planning in Multi-Agent Path Finding
Published in , 1900
Shuyang Zhang, Jiaoyang Li, Taoan Huang, Sven Koenig and Bistra Dilkina.
Symposium on Combinatorial Search (SoCS), pages 208-216, 2022.
[publisher] [pdf] [bibtex]
Mutex Propagation in Multi-Agent Path Finding for Large Agents
Published in , 1900
Optimal and Bounded-Suboptimal Multi-Goal Task Assignment and Path Finding
Published in , 1900
Xinyi Zhong, Jiaoyang Li, Sven Koenig and Hang Ma.
IEEE International Conference on Robotics and Automation (ICRA), pages 10731-10737, 2022.
[pdf] [bibtex]
talks
Talk 1 on Relevant Topic in Your Field
Published:
This is a description of your talk, which is a markdown files that can be all markdown-ified like any other post. Yay markdown!
Conference Proceeding talk 3 on Relevant Topic in Your Field
Published:
This is a description of your conference proceedings talk, note the different field in type. You can put anything in this field.
teaching
Teaching experience 2
Workshop, Carnegie Mellon University, Robotics Institute, 2015
This is a description of a teaching experience. You can use markdown like any other post.
16642: Manipulation, Estimation, and Control
, , 1900
Robotics Institute, Carnegie Mellon University, Fall 2023
16891: Multi-Robot Planning and Coordination
, , 1900
Robotics Institute, Carnegie Mellon University, Spring 2023
16642: Manipulation, Estimation, and Control
, , 1900
Robotics Institute, Carnegie Mellon University, Fall 2024
16891: Multi-Robot Planning and Coordination
, , 1900
Robotics Institute, Carnegie Mellon University, Spring 2024