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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

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

Download paper here

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).

Multi-Agent Path Finding with Deadlines: Preliminary Results

Published in AAMAS, 2018

Download paper here

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).

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.
[publisher] [talk] [bibtex]

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.
[publisher] [code] [bibtex]

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.
[publisher] [code] [bibtex]

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]

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.
[publisher] [website] [bibtex]

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]

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.
[publisher] [code] [talk] [slides] [bibtex]

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.
[publisher] [long talk] [short talk] [slides] [bibtex]

formation-random formation-tight formation-wide

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.
[publisher] [code] [long talk] [short talk] [poster]
[slides]
[bibtex]

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.
[publisher] [code] [poster] [bibtex]

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]

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]

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), 2020.
[pdf] [bibtex]

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]

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.
[pdf] [code] [bibtex]

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.
[publisher] [code] [talk] [bibtex]

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]

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), (in print), 2022.
[pdf] [bibtex]

talks

teaching

Teaching experience 1

Undergraduate course, University 1, Department, 2014

This is a description of a teaching experience. You can use markdown like any other post.

Teaching experience 2

Workshop, University 1, Department, 2015

This is a description of a teaching experience. You can use markdown like any other post.