Sven Koenig: Selected Publications

Selected Publications by Sven Koenig

For a complete list of publications, see "CV" on the menu to the left.

Google Scholar: publications by Sven Koenig (includes the h-index)
DPLP Computer Science Bibliography: publications by Sven Koenig
Computer Science Bibliographies: publications by Sven Koenig

Selected Publications Co-Edited by Sven Koenig

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Selected Publications Co-Authored by Sven Koenig

Dissertation

S. Koenig. Goal-Directed Acting with Incomplete Information. PhD thesis, School of Computer Science, Carnegie Mellon University, Pittsburgh (Pennsylvania), 1997. [downloadable]

2023

C. Hernandez, W. Yeoh, J. Baier, H. Zhang, L. Suazo, S. Koenig and O. Salzman. Simple and Efficient Bi-Objective Search Algorithms via Fast Dominance Checks. Artificial Intelligence, 314, 2023. [downloadable]
J. Li, T. Hoang, E. Lin, H. Vu and S. Koenig. Intersection Coordination with Priority-Based Search for Autonomous Vehicles. In AAAI Conference on Artificial Intelligence (AAAI), 2023. [downloadable]
O. Salzman, A. Felner, C. Hernandez, H. Zhang, S.-H. Chan and S. Koenig. Heuristic-Search Approaches for the Multi-Objective Shortest-Path Problem: Progress and Research Opportunities [Survey Track]. In International Joint Conference on Artificial Intelligence (IJCAI), 2023. [downloadable]
H. Zhang, O. Salzman, A. Felner, S. Kumar, C. Hernandez and S. Koenig. Efficient Multi-Query Bi-Objective Search via Contraction Hierarchies. In International Conference on Automated Planning and Scheduling (ICAPS), 2023. [downloadable]
C. Ge, H. Zhang, J. Li and S. Koenig. Cost Splitting for Multi-Objective Conflict-Based Search. In International Conference on Automated Planning and Scheduling (ICAPS), 2023. [downloadable]
Z. Ren, J. Li, H. Zhang, S. Koenig, S. Rathinam and H. Choset. Binary Branching Multi-Objective Conflict-Based Search for Multi-Agent Path Finding. In International Conference on Automated Planning and Scheduling (ICAPS), 2023. [downloadable]
Y. Zheng, H. Ma, S. Koenig, E. Kline and S. Kumar. Priority-Based Search for the Virtual Network Embedding Problem. In International Conference on Automated Planning and Scheduling (ICAPS), 2023. [downloadable]
T. Huang, V. Shivashankar, M. Caldara, J. Durham, J. Li, B. Dilkina and S. Koenig. Deadline-Aware Multi-Agent Tour Planning. In International Conference on Automated Planning and Scheduling (ICAPS), 2023. [downloadable]
C. Leet, C. Oh, M. Lora, S. Koenig and P. Nuzzo. Task Assignment, Scheduling, and Motion Planning for Automated Warehouses for Million Product Workloads. In IEEE International Conference on Intelligent Robots and Systems (IROS), 2023. [downloadable]

2022

H. Zhang, J. Li, P. Surynek, S. Kumar and S. Koenig. Multi-Agent Path Finding with Mutex Propagation. Artificial Intelligence, 311, 103766, 2022. [downloadable]
J. Li, Z. Chen, D. Harabor, P. Stuckey and S. Koenig. MAPF-LNS2: Fast Repairing for Multi-Agent Path Finding via Large Neighborhood Search. In AAAI Conference on Artificial Intelligence (AAAI), 10256-10265, 2022. [downloadable]
C. Leet, J. Li and S. Koenig. Shard Systems: Scalable, Robust and Persistent Multi-Agent Path Finding with Performance Guarantees. In AAAI Conference on Artificial Intelligence (AAAI), 9386-9395, 2022. [downloadable]
T. Huang, J. Li, S. Koenig and B. Dilkina. Anytime Multi-Agent Path Finding via Machine Learning-Guided Large Neighborhood Search. In AAAI Conference on Artificial Intelligence (AAAI), 9368-9376, 2022. [downloadable]
S.-H. Chan, J. Li, G. Gange, D. Harabor, P. Stuckey and S. Koenig. Flex Distribution for Bounded-Suboptimal Multi-Agent Path Finding. In AAAI Conference on Artificial Intelligence (AAAI), 9313-9322, 2022. [downloadable]
Y. Zheng, S. Ravi, E. Kline, S. Koenig and S. Kumar. Conflict-Based Search for the Virtual Network Embedding Problem. In International Conference on Automated Planning and Scheduling (ICAPS), 423-433, 2022. [downloadable]
H. Zhang, O. Salzman, S. Kumar, A. Felner, C. Hernandez and S. Koenig. A*pex: Efficient Approximate Multi-Objective Search on Graphs. In International Conference on Automated Planning and Scheduling (ICAPS), 423-433, 2022. [downloadable]
H. Zhang, J. Chen, J. Li, B. Williams and S. Koenig. Multi-Agent Path Finding for Precedence-Constrained Goal Sequences. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 1464-1472, 2022. [downloadable]
X. Zhong, J. Li, S. Koenig and H. Ma. Optimal and Bounded-Suboptimal Multi-Goal Task Assignment and Path Finding. In IEEE International Conference on Robotics and Automation (ICRA), 10731-10737, 2022. [downloadable]
Q. Xu, J. Li, S. Koenig and H. Ma. Multi-Goal Multi-Agent Pickup and Delivery. In IEEE International Conference on Intelligent Robots and Systems (IROS), 9964-9971, 2022. [downloadable]
K. Nakagaki, J. Tappa, Y. Zheng, J. Forman, J. Leong, S. Koenig and H. Ishii. (Dis)Appearables: A Concept and Method for Actuated Tangible UIs to Appear and Disappear Based on Stages. In ACM CHI Conference on Human Factors in Computing Systems (CHI), 501:1-506:13, 2022. [downloadable]
Y. Guan, A. Li, S. Koenig, S. Haas and S. Kumar. FastPivot: An Algorithm for Inverse Problems. In IEEE International Conference on Automation Science and Engineering (CASE), 505-511, 2022. [downloadable]
A. Li, P. Stuckey, S. Koenig and S. Kumar. A FastMap-Based Algorithm for Block Modeling. In International Conference on the Integration of Constraint Programming, Artificial Intelligence, and Operations Research (CPAIOR), 232-248, 2022. [downloadable]
S. Zhang, J. Li, T. Huang, S. Koenig and B. Dilkina. Learning a Priority Ordering for Prioritized Planning in Multi-Agent Path Finding. In Symposium on Combinatorial Search (SoCS), 208-216, 2022. [downloadable]
O. Thakoor, A. Li, S. Koenig, S. Ravi, E. Kline and S. Kumar. The FastMap Pipeline for Facility Location Problems. In International Conference on Principles and Practice of Multi-Agent Systems (PRIMA), 417-434, 2022. [downloadable]
S. Varambally, J. Li and S. Koenig. Which MAPF Model Works Best for Automated Warehousing?. In Symposium on Combinatorial Search (SoCS), 190-198, 2022. [downloadable]
H. Zhang, Y. Li, J. Li, S. Kumar and S. Koenig. Mutex Propagation in Multi-Agent Path Finding for Large Agents [Short Paper]. In Symposium on Combinatorial Search (SoCS), 249-253, 2022. [downloadable]
S. Skyler, D. Atzmon, A. Felner, O. Salzman, H. Zhang, S. Koenig, W. Yeoh and C. Hernandez. Bounded-Cost Bi-Objective Heuristic Search [Short Paper]. In Symposium on Combinatorial Search (SoCS), 239-243, 2022. [downloadable]

2021

J. Li, D. Harabor, P. Stuckey, H. Ma, G. Gange and S. Koenig. Pairwise Symmetry Reasoning for Multi-Agent Path Finding Search. Artificial Intelligence, 301, 103574, 2021. [downloadable]
S. Koenig, S.-H. Chan, J. Li and Y. Zheng. Artificial Intelligence and Automation. In Handbook of Automation, S. Nof (editor), Springer, 2021. [downloadable]
J. Li, Z. Chen, D. Harabor, P. Stuckey and S. Koenig. Anytime Multi-Agent Path Finding via Large Neighborhood Search. In International Joint Conference on Artificial Intelligence (IJCAI), 4127-4135, 2021. [downloadable]
J. Li, W. Ruml and S. Koenig. EECBS: A Bounded-Suboptimal Search for Multi-Agent Path Finding. In AAAI Conference on Artificial Intelligence (AAAI), 12353-12362, 2021. [downloadable]
J. Li, A. Tinka, S. Kiesel, J. Durham, S. Kumar and S. Koenig. Lifelong Multi-Agent Path Finding in Large-Scale Warehouses. In AAAI Conference on Artificial Intelligence (AAAI), 11272-11281, 2021. [downloadable]
T. Huang, S. Koenig and B. Dilkina. Learning to Resolve Conflicts for Multi-Agent Path Finding with Conflict-Based Search. In AAAI Conference on Artificial Intelligence (AAAI), 11246-11253, 2021. [downloadable]
E. Boyarski, A. Felner, P. Le Bodic, D. Harabor, P. Stuckey and S. Koenig. f-Aware Conflict Prioritization & Improved Heuristics for Conflict-Based Search. In AAAI Conference on Artificial Intelligence (AAAI), 12241-12248, 2021. [downloadable]
E. Heiden, L. Palmieri, L. Bruns, K. Arras, G. Sukhatme and S. Koenig. Bench-MR: A Motion Planning Benchmark for Wheeled Mobile Robots. IEEE Robotics and Automation Letters, 6, (3), 4536-4543, 2021. [downloadable]
T. Huang, B. Dilkina and S. Koenig. Learning Node-Selection Strategies in Bounded-Suboptimal Conflict-Based Search for Multi-Agent Path Finding. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 611-619, 2021. [downloadable]
J. Li, Z. Chen, Y. Zheng, S.-H. Chan, D. Harabor, P. Stuckey, H. Ma and S. Koenig. Scalable Rail Planning and Replanning: Winning the 2020 Flatland Challenge. In International Conference on Automated Planning and Scheduling (ICAPS), 477-485, 2021. [downloadable]
H. Zhang, N. Tiruviluamala, S. Koenig and S. Kumar. Temporal Reasoning with Kinodynamic Networks. In International Conference on Automated Planning and Scheduling (ICAPS), 415-425, 2021. [downloadable]
Y. Guan, A. Li, S. Koenig, S. Haas and S. Kumar. Hysteresis in Combinatorial Optimization Problems. In International FLAIRS Conference (FLAIRS), 2021. [downloadable]
H. Zhang, M. Yao, Z. Liu, J. Li, L. Terr, S.-H. Chan, S. Kumar and S. Koenig. A Hierarchical Approach to Multi-Agent Path Finding. In ICAPS-21 Workshop on Hierarchical Planning (HPLAN), 2021. [downloadable]
S. Das, J. Dickerson, P. Van Hentenryck, S. Koenig, R. Krishnan, R. Kulkami and P. Vayanos. Artificial Intelligence Operations Research Workshop 1 Report Out. Technical Report, 2021. [downloadable]

2020

D. Atzmon, J. Li, A. Felner, E. Nachmani, S. Shperberg, N. Sturtevant and S. Koenig. Multi-Directional Heuristic Search. In International Joint Conference on Artificial Intelligence (IJCAI), 4062-4068, 2020. [downloadable]
E. Boyarski, A. Felner, D. Harabor, P. Stuckey, L. Cohen, J. Li and S. Koenig. Iterative-Deepening Conflict-Based Search. In International Joint Conference on Artificial Intelligence (IJCAI), 4084-4090, 2020. [downloadable]
J. Li, G. Gange, D. Harabor, P. Stuckey, H. Ma and S. Koenig. New Techniques for Pairwise Symmetry Breaking in Multi-Agent Path Finding. In International Conference on Automated Planning and Scheduling (ICAPS), 193-201, 2020. [downloadable]
H. Zhang, J. Li, P. Surynek, S. Koenig and S. Kumar. Multi-Agent Path Finding with Mutex Propagation. In International Conference on Automated Planning and Scheduling (ICAPS), 323-332, 2020. [downloadable]
C. Hernandez, W. Yeoh, J. Baier, H. Zhang, L. Suazo and S. Koenig. A Simple and Fast Bi-Objective Search Algorithm. In International Conference on Automated Planning and Scheduling (ICAPS), 143-151, 2020. [downloadable]
D. Atzmon, R. Stern, A. Felner, N. Sturtevant and S. Koenig. Probabilistic Robust Multi-Agent Path Finding. In International Conference on Automated Planning and Scheduling (ICAPS), 29-37, 2020. [downloadable]
J. Li, K. Sun, H. Ma, A. Felner, S. Kumar and S. Koenig. Moving Agents in Formation in Congested Environments. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 726-734, 2020. [downloadable]
E. Lam, P. Stuckey, S. Koenig and S. Kumar. Exact Approaches to the Multi-Agent Collective Construction Problem. In International Conference on Principles and Practice of Constraint Programming (CP), 743-758, 2020. [downloadable]
A. Li, Y. Guan, S. Koenig, S. Haas and S. Kumar. Generating the Top K Solutions to Weighted CSPs: A Comparison of Different Approaches. In IEEE International Conference on Tools with Artificial Intelligence (ICTAI), 1218-1223, 2020. [downloadable]
S. Gopalakrishnan, L. Cohen, S. Koenig and S. Kumar. Embedding Directed Graphs in Potential Fields Using FastMap-D. In Symposium on Combinatorial Search (SoCS), 48-56, 2020. [downloadable]
H. Xu, K. Sun, S. Koenig and S. Kumar. Decision-Tree Learning-Inspired Dynamic Variable Ordering for the Weighted CSP. In Symposium on Combinatorial Search (SoCS), 91-100, 2020. [downloadable]
G. Belov, W. Du, M. Garcia de la Banda, D. Harabor, S. Koenig and X. Wei. From Multi-Agent Pathfinding to 3D Pipe Routing. In Symposium on Combinatorial Search (SoCS), 11-19, 2020. [downloadable]
J. Han, T. Uras and S. Koenig. Toward a String-Pulling Approach to Path Smoothing on Grid Graphs. In Symposium on Combinatorial Search (SoCS), 106-110, 2020. [downloadable]
S.-H. Chan, J. Li, D. Harabor, P. Stuckey, G. Gange, L. Cohen and S. Koenig. Nested ECBS for Bounded-Suboptimal Multi-Agent Path Finding. In IJCAI-20 Workshop on Multi-Agent Path Finding, 2020. [downloadable]
S. Koenig, T. Uras and L. Cohen. Teaching Undergraduate Artificial Intelligence Classes: An Experiment with an Attendance Requirement. In Symposium on Educational Advances in Artificial Intelligence (EAAI), 13374-13380, 2020. [downloadable]
H. Xu, K. Sun, S. Koenig, I. Hen and S. Kumar. Hybrid Quantum-Classical Algorithms for Solving the Weighted CSP. In International Symposium on Artificial Intelligence and Mathematics (ISAIM), 2020. [downloadable]
T. Neller, S. Keeley, M. Guerzhoy, W. Hoenig, J. Li, S. Koenig, A. Soni, K. Thomason, L. Zhang, B. Sebatian, C. Resnick, A. Oliver, S. Bhupatiraju, K. Agrawal, J. Allingham, S. Yoon, J. Chen, T. Larsen, M. Neumann, N. Norouzi, R. Hausen and M. Evett. Model AI Assignments 2020. In Symposium on Educational Advances in Artificial Intelligence (EAAI), 13509-13511, 2020. [downloadable]
S. Koenig. What I Wish I Had Known Early in Graduate School but Didn't (and how to prepare for a good job afterward). Artificial Intelligence Magazine, 41, (1), 90-100, 2020. [downloadable]
P. Surynek, J. Li, H. Zhang, S. Kumar and S. Koenig. Mutex Propagation for SAT-Based Multi-Agent Path Finding. In International Conference on Principles and Practice of Multi-Agent Systems (PRIMA), 2020. [downloadable]

2019

J. Li, A. Felner, E. Boyarski, H. Ma and S. Koenig. Improved Heuristics for Multi-Agent Path Finding with Conflict-Based Search. In International Joint Conference on Artificial Intelligence (IJCAI), 442-449, 2019. [downloadable]
D. Harabor, T. Uras, P. Stuckey and S. Koenig. Regarding Jump Point Search and Subgoal Graphs. In International Joint Conference on Artificial Intelligence (IJCAI), 1241-1248, 2019. [downloadable]
H. Ma, D. Harabor, P. Stuckey, J. Li and S. Koenig. Searching with Consistent Prioritization for Multi-Agent Path Finding. In AAAI Conference on Artificial Intelligence (AAAI), 7643-7650, 2019. [downloadable]
H. Ma, W. Hoenig, S. Kumar, N. Ayanian and S. Koenig. Lifelong Path Planning with Kinematic Constraints for Multi-Agent Pickup and Delivery. In AAAI Conference on Artificial Intelligence (AAAI), 7651-7658, 2019. [downloadable]
J. Li, P. Surynek, A. Felner, H. Ma, S. Kumar and S. Koenig. Multi-Agent Path Finding for Large Agents. In AAAI Conference on Artificial Intelligence (AAAI), 7627-7634, 2019. [downloadable]
J. Li, D. Harabor, P. Stuckey, H. Ma and S. Koenig. Symmetry-Breaking Constraints for Grid-Based Multi-Agent Path Finding. In AAAI Conference on Artificial Intelligence (AAAI), 6087-6095, 2019. [downloadable]
G. Sartoretti, J. Kerr, Y. Shi, G. Wagner, S. Kumar, S. Koenig and H. Choset. PRIMAL: Pathfinding via Reinforcement and Imitation Multi-Agent Learning. IEEE Robotics and Automation Letters, 4, (3), 2378-2385, 2019. [downloadable]
M. Liu, H. Ma, J. Li and S. Koenig. Task and Path Planning for Multi-Agent Pickup and Delivery. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 1152-1160, 2019. [downloadable]
J. Wang, J. Li, H. Ma, S. Koenig and S. Kumar. A New Constraint Satisfaction Perspective on Multi-Agent Path Finding: Preliminary Results [Short Paper]. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2253-2255, 2019. [downloadable]
J. Li, D. Harabor, P. Stuckey, A. Felner, H. Ma and S. Koenig. Disjoint Splitting for Multi-Agent Path Finding with Conflict-Based Search [Short Paper]. In International Conference on Automated Planning and Scheduling (ICAPS), 279-283, 2019. [downloadable]
J. Li, A. Felner, S. Koenig and S. Kumar. Using FastMap to Solve Graph Problems in a Euclidean Space. In International Conference on Automated Planning and Scheduling (ICAPS), 273-278, 2019. [downloadable]
K. Yip, H. Xu, S. Koenig and S. Kumar. Quadratic Reformulation of Nonlinear Pseudo-Boolean Functions via the Constraint Composite Graph. In International Conference on the Integration of Constraint Programming, Artificial Intelligence, and Operations Research (CPAIOR), 643-660, 2019. [downloadable]
J. Li, H. Zhang, M. Gong, Z. Liang, W. Liu, Z. Tong, L. Yi, R. Morris, C. Pasareanu and S. Koenig. Scheduling and Airport Taxiway Path Planning under Uncertainty. In AIAA Aviation Forum and Exposition (AIAA), 2930, 2019. [downloadable]
O. Walker, F. Vanegas, F. Gonzalez and S. Koenig. A Deep Reinforcement Learning Framework for UAV Navigation in Indoor Environments. In IEEE Aerospace Conference (AeroConf), 2019. [downloadable]
R. Stern, N. Sturtevant, A. Felner, S. Koenig, H. Ma, T. Walker, J. Li, D. Atzmon, L. Cohen, S. Kumar, E. Boyarski and R. Bartak. Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks [Position Paper]. In Symposium on Combinatorial Search (SoCS), 151-159, 2019. [downloadable]
S. Koenig, S. Das, R. Paradis, J. Dickerson, Y. Gil, K. Guo, B. Kuipers, I. Leite, H. Ma, N. Mattei, A. McGovern, L. Medsker, T. Neller, M. Neumann, P. Petrov, M. Rovatsos and D. Stork. ACM SIGAI Activity Report. AI Matters, 5, (3), 6-11, 2019. [downloadable]
G. Sartoretti, S. Koenig and H. Choset. A Combined Learning- and Search-Based Approach to Complete Multi-Agent Path Finding. In IJCAI-19 Workshop on Multi-Agent Path Finding, (in print), 2019. [downloadable]

2018

T. Uras and S. Koenig. Understanding Subgoal Graphs by Augmenting Contraction Hierarchies. In International Joint Conference on Artificial Intelligence (IJCAI), 1506-1513, 2018. [downloadable]
H. Ma, G. Wagner, A. Felner, J. Li, S. Kumar and S. Koenig. Multi-Agent Path Finding with Deadlines. In International Joint Conference on Artificial Intelligence (IJCAI), 417-423, 2018. [downloadable]
L. Cohen, M. Greco, H. Ma, C. Hernandez, A. Felner, S. Kumar and S. Koenig. Anytime Focal Search with Applications. In International Joint Conference on Artificial Intelligence (IJCAI), 1434-1441, 2018. [downloadable]
L. Cohen, T. Uras, S. Jahangiri, A. Arunasalam, S. Koenig and S. Kumar. The FastMap Algorithm for Shortest Path Computations. In International Joint Conference on Artificial Intelligence (IJCAI), 1427-1433, 2018. [downloadable]
E. Heiden, L. Palmieri, S. Koenig, K. Arras and G. Sukhatme. Gradient-Informed Path Smoothing for Wheeled Mobile Robots. In IEEE International Conference on Robotics and Automation (ICRA), 1710-1717, 2018. [downloadable]
H. Xu, S. Koenig and S. Kumar. Towards Effective Deep Learning for Constraint Satisfaction Problems. In International Conference on Principles and Practice of Constraint Programming (CP), 588-597, 2018. [downloadable]
H. Xu, K. Sun, S. Koenig and S. Kumar. A Warning Propagation-Based Linear-Time-and-Space Algorithm for the Minimum Vertex Cover Problem on Giant Graphs. In International Conference on the Integration of Constraint Programming, Artificial Intelligence, and Operations Research (CPAIOR), 567-584, 2018. [downloadable]
G. Sartoretti, Y. Wu, W. Paivine, S. Kumar, S. Koenig and H. Choset. Distributed Reinforcement Learning for Multi-Robot Decentralized Collective Construction. In International Symposium on Distributed Autonomous Robotics Systems (DARS), 35-49, 2018. [downloadable]
D. Sigurdson, V. Bulitko, W. Yeoh, C. Hernandez and S. Koenig. Multi-Agent Pathfinding with Real-Time Heuristic Search. In IEEE Conference on Computational Intelligence and Games (CIG), 1-8, 2018. [downloadable]
T. Uras and S. Koenig. Fast Near-Optimal Path Planning on State Lattices with Subgoal Graphs. In Symposium on Combinatorial Search (SoCS), 106-114, 2018. [downloadable]
H. Xu, C. Cheng, S. Koenig and S. Kumar. Message Passing Algorithms for Semiring-Based and Valued Constraint Satisfaction Problems. In Symposium on Combinatorial Search (SoCS), 115-123, 2018. [downloadable]
A. Felner, J. Li, E. Boyarski, H. Ma, L. Cohen, S. Kumar and S. Koenig. Adding Heuristics to Conflict-Based Search for Multi-Agent Path Finding [Short Paper]. In International Conference on Automated Planning and Scheduling (ICAPS), 83-87, 2018. [downloadable]
Z. Wang, L. Cohen, S. Koenig and S. Kumar. The Factored Shortest Path Problem and Its Applications in Robotics [Short Paper]. In International Conference on Automated Planning and Scheduling (ICAPS), 527-531, 2018. [downloadable]
L. Cohen, S. Koenig, S. Kumar, G. Wagner, H. Choset, D. Chan and N. Sturtevant. Rapid Randomized Restarts for Multi-Agent Path Finding: Preliminary Results [Short Paper]. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 1909-1911, 2018. [downloadable]
H. Ma, G. Wagner, A. Felner, J. Li, S. Kumar and S. Koenig. Multi-Agent Path Finding with Deadlines: Preliminary Results [Short Paper]. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2004-2006, 2018. [downloadable]
F. Fioretto, H. Xu, S. Koenig and S. Kumar. Solving Multiagent Constraint Optimization Problems on the Constraint Composite Graph. In International Conference on Principles and Practice of Multi-Agent Systems (PRIMA), 106-122, 2018. [downloadable]
E. Eaton, S. Koenig, C. Schulz, F. Maurelli, J. Lee, J. Eckroth, M. Crowley, R. Freedman, R. Cardona-Rivera, T. Machado and T. Williams. Blue Sky Ideas in Artificial Intelligence Education from the EAAI 2017 New and Future AI Educator Program. AI Matters, 3, (4), 23-31, 2018. [downloadable]
M. Gini, N. Agmon, F. Giunchiglia, S. Koenig and K. Leyton-Brown. Artificial Intelligence in 2027. AI Matters, 4, (1), 10-20, 2018. [downloadable]
M. Nakajima, H. Xu, S. Koenig and S. Kumar. Towards Understanding the Min-Sum Message Passing Algorithm for the Minimum Weighted Vertex Cover Problem: An Analytical Approach. In International Symposium on Artificial Intelligence and Mathematics (ISAIM), 2018. [downloadable]
H. Xu, X.-Z. Wu, C. Cheng, S. Koenig and S. Kumar. The Buss Reduction for the k-Weighted Vertex Cover Problem. In International Symposium on Artificial Intelligence and Mathematics (ISAIM), 2018. [downloadable]
S. Koenig, C. Muise and S. Sanner. Non-Traditional Objective Functions for MDPs. In IJCAI-18 Workshop on Goal Reasoning (GRW), 2018. [downloadable]
S. Koenig, S. Das, R. Paradis, J. Dickerson, Y. Gil, K. Guo, B. Kuipers, H. Ma, N. Mattei, A. McGovern, L. Medsker, T. Neller, P. Petrov, M. Rovatsos and D. Stork. ACM SIGAI Activity Report. AI Matters, 4, (3), 7-11, 2018. [downloadable]

2017

H. Ma, W. Hoenig, L. Cohen, T. Uras, H. Xu, S. Kumar, N. Ayanian and S. Koenig. Overview: A Hierarchical Framework for Plan Generation and Execution in Multirobot Systems. IEEE Intelligent Systems, 32, (6), 6-12, 2017. [downloadable]
H. Ma, S. Kumar and S. Koenig. Multi-Agent Path Finding with Delay Probabilities. In AAAI Conference on Artificial Intelligence (AAAI), 3605-3612, 2017. [downloadable]
H. Ma, J. Li, S. Kumar and S. Koenig. Lifelong Multi-Agent Path Finding for Online Pickup and Delivery Tasks. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 837-845, 2017. [downloadable]
H. Xu, S. Koenig and S. Kumar. A Constraint Composite Graph-Based ILP Encoding of the Boolean Weighted CSP. In International Conference on Principles and Practice of Constraint Programming (CP), 630-638, 2017. [downloadable]
H. Xu, S. Kumar and S. Koenig. The Nemhauser-Trotter Reduction and Lifted Message Passing for the Weighted CSP. In International Conference on Integration of Artificial Intelligence and Operations Research Techniques in Constraint Programming (CPAIOR), 387-402, 2017. [downloadable]
E. Burton, J. Goldsmith, S. Koenig, B. Kuipers, N. Mattei and T. Walsh. Ethical Considerations in Artificial Intelligence Courses. Artificial Intelligence Magazine, 38, (2), 22-34, 2017. [downloadable]
H. Xu, S. Kumar and S. Koenig. Min-Max Message Passing and Local Consistency in Constraint Networks. In Australasian Joint Conference on Artificial Intelligence (AI), 340-352, 2017. [downloadable]
T. Uras and S. Koenig. Feasibility Study: Subgoal Graphs on State Lattices. In Symposium on Combinatorial Search (SoCS), 100-108, 2017. [downloadable]
H. Xu, S. Kumar and S. Koenig. A Linear-Time and Linear-Space Algorithm for the Minimum Vertex Cover Problem on Giant Graphs [Short Paper]. In Symposium on Combinatorial Search (SoCS), 173-175, 2017. [downloadable]
S. Koenig and S. Kumar. A Case for Collaborative Construction as Testbed for Cooperative Multi-Agent Planning. In ICAPS-17 Scheduling and Planning Applications Workshop (SPARK), 2017. [downloadable]
S. Koenig, S. Das R. Paradis, E. Eaton, Y. Gil, K. Guo, B. Huang, A. Jiang, B. Kuipers, N. Mattei, A. McGovern, L. Medsker, T. Neller, P. Petrov, M. Rovatsos and D. Stork. ACM SIGAI Activity Report. AI Matters, 3, (3), 7-11, 2017. [downloadable]
H. Ma and S. Koenig. AI Buzzwords Explained: Multi-Agent Path Finding (MAPF). AI Matters, 3, (3), 15-19, 2017. [downloadable]

2016

H. Ma, C. Tovey, G. Sharon, S. Kumar and S. Koenig. Multi-Agent Path Finding with Payload Transfers and the Package-Exchange Robot-Routing Problem. In AAAI Conference on Artificial Intelligence (AAAI), 3166-3173, 2016. [downloadable]
L. Cohen, T. Uras, S. Kumar, H. Xu, N. Ayanian and S. Koenig. Improved Solvers for Bounded-Suboptimal Multi-Agent Path Finding. In International Joint Conference on Artificial Intelligence (IJCAI), 3067-3074, 2016. [downloadable]
H. Ma and S. Koenig. Optimal Target Assignment and Path Finding for Teams of Agents. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 1144-1152, 2016. [downloadable]
W. Hoenig, S. Kumar, L. Cohen, H. Ma, H. Xu, N. Ayanian and S. Koenig. Multi-Agent Path Finding with Kinematic Constraints. In International Conference on Automated Planning and Scheduling (ICAPS), 477-485, 2016. [downloadable]
W. Hoenig, S. Kumar, H. Ma, S. Koenig and N. Ayanian. Formation Change for Robot Groups in Occluded Environments. In IEEE International Conference on Intelligent Robots and Systems (IROS), 4836-4842, 2016. [downloadable]
H. Xu, S. Kumar and S. Koenig. A New Solver for the Minimum Weighted Vertex Cover Problem. In International Conference on Integration of Artificial Intelligence and Operations Research Techniques in Constraint Programming (CPAIOR), 392-405, 2016. [downloadable]
L. Palmieri, S. Koenig and K. Arras. RRT-Based Nonholonomic Motion Planning Using Any-Angle Path Biasing. In IEEE International Conference on Robotics and Automation (ICRA), 2775-2781, 2016. [downloadable]
T. Cai, D. Zhang, S. Kumar, S. Koenig and N. Ayanian. Local Search on Trees and a Framework for Automated Construction Using Multiple Identical Robots [Short Paper]. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 1301-1302, 2016. [downloadable]
H. Xu, S. Kumar, D. Johnke, N. Ayanian and S. Koenig. SAGL: A New Heuristic for Multi-Robot Routing with Complex Tasks. In IEEE International Conference on Tools with Artificial Intelligence (ICTAI), 530-535, 2016. [downloadable]
R. Morris, C. Pasareanu, K. Luckow, W. Malik, H. Ma, S. Kumar and S. Koenig. Planning, Scheduling and Monitoring for Airport Surface Operations. In AAAI-16 Workshop on Planning for Hybrid Systems, 2016. [downloadable]
H. Ma, S. Koenig, N. Ayanian, L. Cohen, W. Hoenig, S. Kumar, T. Uras, H. Xu, C. Tovey and G. Sharon. Overview: Generalizations of Multi-Agent Path Finding to Real-World Scenarios. In IJCAI-16 Workshop on Multi-Agent Path Finding, 2016. [downloadable]
R. Alterovitz, S. Koenig and M. Likhachev. Robot Planning in the Real World: Research Challenges and Opportunities. Artificial Intelligence Magazine, 37, (2), 76-84, 2016. [downloadable]

2015

M. Furuhata, K. Daniel, S. Koenig, F. Ordonez, M. Dessouky, M. Brunet, L. Cohen and X. Wang. Online Cost-Sharing Mechanism Design for Demand-Responsive Transport Systems. IEEE Transactions on Intelligent Transportation Systems, 16, (2), 692-707, 2015. [downloadable]
R. Morris, B. Bonet, M. Cavazza, M. desJardins, A. Felner, N. Hawes, B. Knox, S. Koenig, G. Konidaris, J. Lang, C. Lopez, D. Magazzeni, A. McGovern, S. Natarajan, N. Sturtevant, M. Thielscher, W. Yeoh, S. Sardina and K. Wagstaff. A Summary of the Twenty-Ninth AAAI Conference on Artificial Intelligence. Artificial Intelligence Magazine, 99-106, 2015. [downloadable]
J. Bailey, C. Tovey, T. Uras, S. Koenig and A. Nash. Path Planning on Grids: The Effect of Vertex Placement on Path Length. In Artificial Intelligence and Interactive Digital Entertainment Conference (AIIDE), 108-114, 2015. [downloadable]
W. Yeoh, P. Varakantham, X. Sun and S. Koenig. Incremental DCOP Search Algorithms for Solving Dynamic DCOP Problems. In IEEE/WIC/ACM International Conference on Intelligent Agent Technology (IAT), 257-264, 2015. [downloadable]
N. Sturtevant, J. Traish, J. Tulip, T. Uras, S. Koenig, B. Strasser, A. Botea, D. Harabor and S. Rabin. The Grid-Based Path Planning Competition: 2014 Entries and Results. In Symposium on Combinatorial Search (SoCS), 241ff, 2015. [downloadable]
L. Cohen, T. Uras and S. Koenig. Feasibility Study: Using Highways for Bounded-Suboptimal Multi-Agent Path Finding. In Symposium on Combinatorial Search (SoCS), 2-8, 2015. [downloadable]
T. Uras and S. Koenig. An Empirical Comparison of Any-Angle Path-Planning Algorithms [Short Paper]. In Symposium on Combinatorial Search (SoCS), 206-210, 2015. [downloadable]
T. Uras and S. Koenig. Speeding-up Any-Angle Path-Planning on Grids [Short Paper]. In International Conference on Automated Planning and Scheduling (ICAPS), 234-238, 2015. [downloadable]
Z. Suffern, C. Tovey and S. Koenig. Towards Completely Decentralized Mustering for StarCraft [Short Paper]. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 1757-1758, 2015. The final publication is available at www.aamas-conference.org. [downloadable]
C. Hernandez, T. Uras, S. Koenig, J. Baier, X. Sun and P. Meseguer. Reusing Cost-Minimal Paths for Goal-Directed Navigation in Partially Known Terrains. Journal of Autonomous Agents and Multi-Agent Systems, 29, (5), 850-895, 2015. [downloadable]

2014

M. Cirillo, T. Uras and S. Koenig. A Lattice-Based Approach to Multi-Robot Motion Planning for Non-Holonomic Vehicles. In IEEE International Conference on Intelligent Robots and Systems (IROS), 232-239, 2014. [downloadable]
S. Kumar, D. Nguyen, W. Yeoh and S. Koenig. A Simple Polynomial-Time Randomized Distributed Algorithm for Connected Row Convex Constraints. In AAAI Conference on Artificial Intelligence (AAAI), 2308-2314, 2014. [downloadable]
T. Uras and S. Koenig. Identifying Hierarchies for Fast Optimal Search. In AAAI Conference on Artificial Intelligence (AAAI), 2014. [downloadable]
S. Kumar, S. Jung and S. Koenig. A Tree-Based Algorithm for Construction Robots. In International Conference on Automated Planning and Scheduling (ICAPS), 2014. [downloadable]
M. Phillips, M. Likhachev and S. Koenig. PA*SR: Parallel A* for Slow Expansions. In International Conference on Automated Planning and Scheduling (ICAPS), 2014. [downloadable]
M. Cirillo, F. Pecora, H. Andreasson, T. Uras and S. Koenig. Integrated Motion Planning and Coordination for Industrial Vehicles. In International Conference on Automated Planning and Scheduling (ICAPS), 463-471, 2014. [downloadable]
M. Furuhata, L. Cohen, S. Koenig, M. Dessouky and F. Ordonez. Characterizing Online Cost-Sharing Mechanisms for Demand Responsive Transport Systems [Short Paper]. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 1491-1492, 2014. [downloadable]

2013

M. Furuhata, M. Dessouky, F. Ordonez, M. Brunet, X. Wang and S. Koenig. Ridesharing: The State-of-the-Art and Future Directions. Transportation Research Part B: Methodological, 57, 28-46, 2013. [downloadable]
R. Borie, S. Koenig and C. Tovey. Section 9.5: Pursuit-Evasion Problems. In Handbook of Graph Theory, J. Gross, J. Yellen and P. Zhang (editor), 1145-1165. Chapman and Hall/CRC, 2013. [downloadable]
A. Nash and S. Koenig. Any-Angle Path Planning. Artificial Intelligence Magazine, 34, (4), 85-107, 2013. [downloadable]
T. Uras, S. Koenig and C. Hernandez. Subgoal Graphs for Optimal Pathfinding in Eight-Neighbor Grids. In International Conference on Automated Planning and Scheduling (ICAPS), 2013. [downloadable]
S. Kumar, M. Cirillo and S. Koenig. Simple Temporal Problems with Taboo Regions. In AAAI Conference on Artificial Intelligence (AAAI), 2013. [downloadable]
S. Kumar, L. Cohen and S. Koenig. Incorrect Lower Bounds for Path Consistency and More. In Symposium on Abstraction, Reformulation, and Approximation (SARA), 2013. [downloadable]
S. Kumar, L. Cohen and S. Koenig. Submodular Constraints and Planar Constraint Networks: New Results. In Symposium on Abstraction, Reformulation, and Approximation (SARA), 2013. [downloadable]
S. Kumar, M. Cirillo and S. Koenig. On the Traveling Salesman Problem with Simple Temporal Constraints. In Symposium on Abstraction, Reformulation, and Approximation (SARA), 2013. [downloadable]

2012

S. Koenig. Making Good Decisions Quickly. The IEEE Intelligent Informatics Bulletin, 13, (1), 14-20, 2012. [downloadable]
X. Sun, T. Uras, S. Koenig and W. Yeoh. Incremental ARA*: An Incremental Anytime Search Algorithm for Moving-Target Search. In International Conference on Automated Planning and Scheduling (ICAPS), 2012. [downloadable]
C. Hernandez, J. Baier, T. Uras and S. Koenig. Time-Bounded Adaptive A*. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 997-1006, 2012. [downloadable]
T. Uras, S. Koenig and C. Hernandez. Subgoal Graphs for Eight-Neighbor Gridworlds [Competition Abstract]. In Symposium on Combinatorial Search (SoCS), 2012. [downloadable]
C. Hernandez, J. Baier, T. Uras and S. Koenig. Position Paper: Incremental Search Algorithms Considered Poorly Understood. In Symposium on Combinatorial Search (SoCS), 2012. [downloadable]

2011

S. Koenig. Chapter 11: Real-Time Search. In Heuristic Search: Theory and Applications, S. Edelkamp and S. Schroedl (editor), 465-518. Morgan Kaufmann, 2011.
S. Koenig and C. Tovey. Chapter 19: Robotics. In Heuristic Search: Theory and Applications, S. Edelkamp and S. Schroedl (editor), 773-792. Morgan Kaufmann, 2011.
R. Borie, C. Tovey and S. Koenig. Algorithms and Complexity Results for Graph-Based Pursuit Evasion. Autonomous Robots, 31, (4), 317-332, 2011. The final publication is available at www.springerlink.com. [downloadable]
X. Zheng and S. Koenig. Generalized Reaction Functions for Solving Complex-Task Allocation Problems. In International Joint Conference on Artificial Intelligence (IJCAI), 478-483, 2011. [downloadable]
C. Hernandez, X. Sun, S. Koenig and P. Meseguer. Tree Adaptive A*. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 123-130, 2011. [downloadable]
W. Yeoh, P. Varakantham, X. Sun and S. Koenig. Incremental DCOP Search Algorithms for Solving Dynamic DCOPs [Short Paper]. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 169-170, 2011. [downloadable]

2010

X. Zheng, S. Koenig, D. Kempe and S. Jain. Multi-Robot Forest Coverage for Weighted and Unweighted Terrain. IEEE Transactions on Robotics, 26, (6), 1018-1031, 2010. [downloadable]
K. Daniel, A. Nash, S. Koenig and A. Felner. Theta*: Any-Angle Path Planning on Grids. Journal of Artificial Intelligence Research, 39, 533-579, 2010. [downloadable]
C. Tovey and S. Koenig. Localization: Approximation and Performance Bounds to Minimize Travel Distance. IEEE Transactions on Robotics, 26, (2), 320-330, 2010. [downloadable]
W. Yeoh, A. Felner and S. Koenig. BnB-ADOPT: An Asynchronous Branch-and-Bound DCOP Algorithm. Journal of Artificial Intelligence Research, 38, 85-133, 2010. [downloadable]
A. Nash, S. Koenig and C. Tovey. Lazy Theta*: Any-Angle Path Planning and Path Length Analysis in 3D. In AAAI Conference on Artificial Intelligence (AAAI), 2010. [downloadable]
X. Zheng and S. Koenig. Sequential Incremental-Value Auctions. In AAAI Conference on Artificial Intelligence (AAAI), 2010. [downloadable]
S. Koenig, P. Keskinocak and C. Tovey. Progress on Agent Coordination with Cooperative Auctions [Senior Member Paper]. In AAAI Conference on Artificial Intelligence (AAAI), 2010. [downloadable]
X. Zheng and S. Koenig. Market-Based Algorithms for Allocating Complex Tasks [Student Abstract]. In AAAI Conference on Artificial Intelligence (AAAI), 2010. [downloadable]
X. Sun, W. Yeoh and S. Koenig. Generalized Fringe-Retrieving A*: Faster Moving Target Search on State Lattices. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 1081-1088, 2010. [downloadable]
X. Sun, W. Yeoh and S. Koenig. Moving Target D* Lite. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 67-74, 2010. [downloadable]
K. Daniel, R. Borie, S. Koenig and C. Tovey. ESP: Pursuit Evasion on Series-Parallel Graphs [Short Paper]. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 1519-1520, 2010. [downloadable]
S. Koenig. Creating a Uniform Framework for Task and Motion Planning: A Case for Incremental Heuristic Search? [Overview Paper]. In ICAPS-10 Workshop on Combining Action and Motion Planning, 2010. [downloadable]
S. Koenig. Open Problem: Analyzing Ant Robot Coverage. In International Conference on Learning Theory (COLT), 312-313, 2010. [downloadable]
T. Neller, J. DeNero, D. Klein, S. Koenig, W. Yeoh, X. Zheng, K. Daniel, A. Nash, Z. Dodds, G. Carenini, D. Poole and C. Brooks. Model AI Assignments. In Symposium on Educational Advances in Artificial Intelligence (EAAI), 2010. [downloadable]
D. Wong, R. Zink and S. Koenig. Teaching Artificial Intelligence and Robotics via Games [Short Paper]. In Symposium on Educational Advances in Artificial Intelligence (EAAI), 2010. [downloadable]
X. Zheng and S. Koenig. A Project on Gesture Recognition with Neural Networks for 'Introduction to Artificial Intelligence' Classes. Technical Report, Department of Computer Science, University of Southern California, Los Angeles (California), 2010. [downloadable]
D. Wong, D. Earl, F. Zyda, R. Zink, S. Koenig, A. Pan, S. Shlosberg, J. Singh and N. Sturtevant. Implementing Games on Pinball Machines. In International Conference on the Foundations of Digital Games (FDG), 240-247, 2010. [downloadable]

2009

S. Koenig and X. Sun. Comparing Real-Time and Incremental Heuristic Search for Real-Time Situated Agents. Journal of Autonomous Agents and Multi-Agent Systems, 18, (3), 313-341, 2009. [downloadable]
S. Koenig, J. Mitchell, A. Mudgal and C. Tovey. A Near-Tight Approximation Algorithm for the Robot Localization Problem. SIAM Journal on Computing, 39, (2), 461-490, 2009. [downloadable]
R. Borie, C. Tovey and S. Koenig. Algorithms and Complexity Results for Pursuit-Evasion Problems. In International Joint Conference on Artificial Intelligence (IJCAI), 59-66, 2009. [downloadable]
A. Nash, S. Koenig and M. Likhachev. Incremental Phi*: Incremental Any-Angle Path Planning on Grids. In International Joint Conference on Artificial Intelligence (IJCAI), 1824-1830, 2009. [downloadable]
X. Zheng and S. Koenig. K-Swaps: Cooperative Negotiation for Solving Task-Allocation Problems. In International Joint Conference on Artificial Intelligence (IJCAI), 373-379, 2009. [downloadable]
X. Sun, W. Yeoh and S. Koenig. Efficient Incremental Search for Moving Target Search. In International Joint Conference on Artificial Intelligence (IJCAI), 615-620, 2009. [downloadable]
W. Yeoh, X. Sun and S. Koenig. Trading Off Solution Quality for Faster Computation in DCOP Search Algorithms. In International Joint Conference on Artificial Intelligence (IJCAI), 354-360, 2009. [downloadable]
A. Ekici, P. Keskinocak and S. Koenig. Multi-Robot Routing with Linear Decreasing Rewards over Time. In IEEE International Conference on Robotics and Automation (ICRA), 958-963, 2009. [downloadable]
X. Sun, W. Yeoh, P. Chen and S. Koenig. Simple Optimization Techniques for A*-Based Search. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 931-936, 2009. [downloadable]
W. Yeoh, P. Varakantham and S. Koenig. Caching Schemes for DCOP Search Algorithms. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 609-616, 2009. [downloadable]
X. Sun, W. Yeoh and S. Koenig. Dynamic Fringe-Saving A*. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 891-898, 2009. [downloadable]
K. Daniel and S. Koenig. Fast Winner Determination for Agent Coordination with SBB Auctions [Short Paper]. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 1197-1198, 2009. [downloadable]
W. Yeoh, R. Zivan and S. Koenig. Discrepancy-Based Approach for Solving Distributed Constraint Optimization Problems. In International Workshop on Distributed Constraint Reasoning (DCR), 132-144, 2009. [downloadable]
X. Zheng and S. Koenig. Negotiation with Reaction Functions for Solving Complex Task Allocation Problems. In IEEE International Conference on Intelligent Robots and Systems (IROS), 4811-4816, 2009. [downloadable]
C. Hernandez, P. Meseguer, X. Sun and S. Koenig. Path-Adaptive A* for Incremental Heuristic Search in Unknown Terrain. In International Conference on Automated Planning and Scheduling (ICAPS), 358-361, 2009. [downloadable]
R. Borie, C. Tovey, K. Daniel and S. Koenig. ESP: Pursuit Evasion on Series-Parallel Graphs. Technical Report, Department of Computer Science, University of Southern California, Los Angeles (California), 2009. [downloadable]

2008

S. Koenig, X. Zheng, C. Tovey, R. Borie, P. Kilby, V. Markakis and P. Keskinocak. Agent Coordination with Regret Clearing. In AAAI Conference on Artificial Intelligence (AAAI), 101-107, 2008. [downloadable]
Y. Liu and S. Koenig. An Exact Algorithm for Solving MDPs under Risk-Sensitve Planning Objectives with One-Switch Utility Functions. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 453-460, 2008. [downloadable]
X. Zheng and S. Koenig. Reaction Functions for Task Allocation to Cooperative Agents. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 559-566, 2008. [downloadable]
W. Yeoh, A. Felner and S. Koenig. BnB-ADOPT: An Asynchronous Branch-and-Bound DCOP Algorithm. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 591-598, 2008. [downloadable]
X. Sun, S. Koenig and W. Yeoh. Generalized Adaptive A*. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 469-476, 2008. [downloadable]
X. Zheng and S. Koenig. Greedy Approaches for Solving Task-Allocation Problems with Coalitions. In AAMAS-08 Workshop on Formal Models and Methods for Multi-Robot Systems, 35-40, 2008. [downloadable]
M. Zyda and S. Koenig. Teaching Artificial Intelligence Playfully. In AAAI-08 Education Colloquium, 90-95, 2008. [downloadable]
J.-P. Kelly, A. Botea and S. Koenig. Offline Planning with Hierarchical Task Networks in Video Games. In Artificial Intelligence and Interactive Digital Entertainment Conference (AIIDE), 2008. [downloadable]
S. Koenig and W. Yeoh. A Project on Fast Trajectory Replanning for Computer Games for 'Introduction to Artificial Intelligence' Classes. Technical Report, Department of Computer Science, University of Southern California, Los Angeles (California), 2008. [downloadable]
S. Koenig, K. Daniel and A. Nash. A Project on Any-Angle Path Planning for Computer Games for 'Introduction to Artificial Intelligence' Classes. Technical Report, Department of Computer Science, University of Southern California, Los Angeles (California), 2008. [downloadable]

2007

J. Marecki, S. Koenig and M. Tambe. A Fast Analytical Algorithm for Solving Markov Decision Processes with Real-Valued Resources. In International Joint Conference on Artificial Intelligence (IJCAI), 2536-2541, 2007. [downloadable]
X. Sun and S. Koenig. The Fringe-Saving A* Search Algorithm - A Feasibility Study. In International Joint Conference on Artificial Intelligence (IJCAI), 2391-2397, 2007. [downloadable]
S. Koenig, C. Tovey, X. Zheng and I. Sungur. Sequential Bundle-Bid Single-Sale Auction Algorithms for Decentralized Control. In International Joint Conference on Artificial Intelligence (IJCAI), 1359-1365, 2007. [downloadable]
A. Nash, K. Daniel, S. Koenig and A. Felner. Theta*: Any-Angle Path Planning on Grids. In AAAI Conference on Artificial Intelligence (AAAI), 1177-1183, 2007. [downloadable]
P. Haslum, A. Botea, M. Helmert, B. Bonet and S. Koenig. Domain-Independent Construction of Pattern Database Heuristics for Cost-Optimal Planning. In AAAI Conference on Artificial Intelligence (AAAI), 1007-1012, 2007. [downloadable]
S. Koenig, M. Likhachev and X. Sun. Speeding up Moving-Target Search. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2007. [downloadable]
J. Melvin, P. Keskinocak, S. Koenig, C. Tovey and B. Yuksel Ozkaya. Multi-Robot Routing with Rewards and Disjoint Time Windows. In IEEE International Conference on Intelligent Robots and Systems (IROS), 2332-2337, 2007. [downloadable]
X. Zheng and S. Koenig. Robot Coverage of Terrain with Non-Uniform Traversability. In IEEE International Conference on Intelligent Robots and Systems (IROS), 3757-3764, 2007. [downloadable]
W. Yeoh, S. Koenig and A. Felner. IDB-ADOPT: A Depth-First Search DCOP Algorithm. In International Workshop on Distributed Constraint Reasoning (DCR), 60-70, 2007. [downloadable]
W. Yeoh, A. Felner and S. Koenig. BnB-ADOPT: An Asynchronous Branch-and-Bound DCOP Algorithm. In International Workshop on Distributed Constraint Reasoning (DCR), 2007. [downloadable]
S. Koenig. Lazy MT-Adaptive A* Proofs. Technical Report, Department of Computer Science, University of Southern California, Los Angeles (California), 2007. [downloadable]

2006

Y. Liu and S. Koenig. Functional Value Iteration for Decision-Theoretic Planning with General Utility Functions. In AAAI Conference on Artificial Intelligence (AAAI), 1186-1193, 2006. [downloadable]
S. Koenig and M. Likhachev. Real-Time Adaptive A*. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 281-288, 2006. [downloadable]
X. Zheng, S. Koenig and C. Tovey. Improving Sequential Single-Item Auctions. In IEEE International Conference on Intelligent Robots and Systems (IROS), 2238-2244, 2006. [downloadable]
S. Koenig, C. Tovey, M. Lagoudakis, V. Markakis, D. Kempe, P. Keskinocak, A. Kleywegt, A. Meyerson and S. Jain. The Power of Sequential Single-Item Auctions for Agent Coordination [Nectar Paper]. In AAAI Conference on Artificial Intelligence (AAAI), 1625-1629, 2006. [downloadable]
S. Koenig, A. Mudgal and C. Tovey. A Near-Tight Approximation Lower Bound and Algorithm for the Kidnapped Robot Problem. In Symposium on Discrete Algorithms (SODA), 133-142, 2006. [downloadable]
M. Likhachev and S. Koenig. Incremental Heuristic Search in Games: The Quest for Speed [Short Paper]. In Artificial Intelligence and Interactive Digital Entertainment Conference (AIIDE), 118-120, 2006. [downloadable]
S. Koenig and M. Likhachev. A New Principle for Incremental Heuristic Search: Theoretical Results [Short Paper]. In International Conference on Automated Planning and Scheduling (ICAPS), 402-405, 2006. [downloadable]
S. Koenig, S. Kraus, M. Singh and M. Wooldridge. Report on the Fourth International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS 2005). Artificial Intelligence Magazine, 27, (1), 103-107, 2006. [downloadable]

2005

A. Mudgal, C. Tovey, S. Greenberg and S. Koenig. Bounds on the Travel Cost of a Mars Rover Prototype Search Heuristic. SIAM Journal on Discrete Mathematics, 19, (2), 431-447, 2005. [downloadable]
C. Tovey, M. Lagoudakis, S. Jain and S. Koenig. The Generation of Bidding Rules for Auction-Based Robot Coordination. In Multi-Robot Systems: From Swarms to Intelligent Automata, L. Parker, F. Schneider and A. Schultz (editor), volume 3 of 3-14. Springer, 2005. [downloadable]
S. Koenig and M. Likhachev. Fast Replanning for Navigation in Unknown Terrain. Transactions on Robotics, 21, (3), 354-363, 2005. [downloadable]
D. Furcy and S. Koenig. Limited Discrepancy Beam Search. In International Joint Conference on Artificial Intelligence (IJCAI), 125-131, 2005. [downloadable]
Y. Liu and S. Koenig. Risk-Sensitive Planning with One-Switch Utility Functions: Value Iteration. In AAAI Conference on Artificial Intelligence (AAAI), 993-999, 2005. [downloadable]
D. Furcy and S. Koenig. Scaling up WA* with Commitment and Diversity [Short Paper]. In International Joint Conference on Artificial Intelligence (IJCAI), 1521-1522, 2005. [downloadable]
M. Likhachev and S. Koenig. A Generalized Framework for Lifelong Planning A*. In International Conference on Automated Planning and Scheduling (ICAPS), 99-108, 2005. [downloadable]
S. Ali, S. Koenig and M. Tambe. Preprocessing Techniques for Accelerating the DCOP Algorithm ADOPT. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 1041-1048, 2005. [downloadable]
S. Koenig and M. Likhachev. Adaptive A* [Short Paper]. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 1311-1312, 2005. [downloadable]
Y. Liu and S. Koenig. Existence and Finiteness Conditions for Risk-Sensitive Planning: Results and Conjectures. In International Conference on Uncertainty in Artificial Intelligence (UAI), 354-363, 2005. [downloadable]
M. Lagoudakis, V. Markakis, D. Kempe, P. Keskinocak, S. Koenig, A. Kleywegt, C. Tovey, A. Meyerson and S. Jain. Auction-Based Multi-Robot Routing. In International Conference on Robotics: Science and Systems (ROBOTICS), 343-350, 2005. [downloadable]
X. Zheng, S. Jain, S. Koenig and D. Kempe. Multi-Robot Forest Coverage. In IEEE International Conference on Intelligent Robots and Systems (IROS), 2318-2323, 2005. [downloadable]

2004

S. Zilberstein, J. Koehler and S. Koenig. ICAPS, the Fourteenth International Conference on Automated Planning and Scheduling (ICAPS-04). Artificial Intelligence Magazine, 25, (4), 101-104, 2004. [downloadable]
S. Koenig, M. Likhachev and D. Furcy. Lifelong Planning A*. Artificial Intelligence Journal, 155, (1-2), 93-146, 2004. [downloadable]
J. Svennebring and S. Koenig. Building Terrain-Covering Ant Robots. Autonomous Robots, 16, (3), 313-332, 2004. [downloadable]
S. Koenig, M. Likhachev, Y. Liu and D. Furcy. Incremental Heuristic Search in Artificial Intelligence. Artificial Intelligence Magazine, 25, (2), 99-112, 2004. [downloadable]
M. Lagoudakis and S. Koenig. Planning. In Berkshire Encyclopedia of Human-Computer Interaction, W. Bainbridge (editor), 554-560. Berkshire Publishing Group, 2004. [downloadable]
S. Koenig. A Comparison of Fast Search Methods for Real-Time Situated Agents. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 864-871, 2004. [downloadable]
A. Mudgal, C. Tovey and S. Koenig. Analysis of Greedy Robot-Navigation Methods. In International Symposium on Artificial Intelligence and Mathematics (ISAIM), 2004. [downloadable]
M. Lagoudakis, M. Berhault, S. Koenig, P. Keskinocak and A. Kleywegt. Simple Auctions with Performance Guarantees for Multi-Robot Task Allocation. In IEEE International Conference on Intelligent Robots and Systems (IROS), 698-705, 2004. [downloadable]
A. Ranganathan and S. Koenig. PDRRTs: Integrating Graph-Based and Cell-Based Planning. In IEEE International Conference on Intelligent Robots and Systems (IROS), 2799-2808, 2004. [downloadable]

2003

S. Koenig, Y. Smirnov and C. Tovey. Performance Bounds for Planning in Unknown Terrain. Artificial Intelligence Journal, 147, (1-2), 253-279, 2003. [downloadable]
M. Likhachev and S. Koenig. Speeding Up the Parti-Game Algorithm. In Advances in Neural Information Processing Systems (NeurIPS), 1563-1570, MIT Press, 2003. [downloadable]
C. Tovey and S. Koenig. Improved Analysis of Greedy Mapping. In IEEE International Conference on Intelligent Robots and Systems (IROS), 3251-3257, 2003. [downloadable]
M. Berhault, H. Huang, P. Keskinocak, S. Koenig, W. Elmaghraby, P. Griffin and A. Kleywegt. Robot Exploration with Combinatorial Auctions. In IEEE International Conference on Intelligent Robots and Systems (IROS), 1957-1962, 2003. [downloadable]
A. Ranganathan and S. Koenig. A Reactive Robot Architecture with Planning on Demand. In IEEE International Conference on Intelligent Robots and Systems (IROS), 1462-1468, 2003. [downloadable]
J. Svennebring and S. Koenig. Trail-Laying Robots for Robust Terrain Coverage. In IEEE International Conference on Robotics and Automation (ICRA), 75-82, 2003. [downloadable]
C. Tovey, S. Greenberg and S. Koenig. Improved Analysis of D*. In IEEE International Conference on Robotics and Automation (ICRA), 3371-3378, 2003. [downloadable]
C. Boutilier, T. Dean and S. Koenig. Editorial. Artificial Intelligence Journal, 147, (1-2), vi-vii, 2003. [downloadable]
S. Koenig and R. Holte. SARA Conference Report. Artificial Intelligence Magazine, 24, (1), 99-100, 2003. [downloadable]
S. Koenig. Topics for Future Planning Competitions [Position Paper]. In ICAPS-03 Workshop on the Competition: Impact, Organization, Evaluation, Benchmarks, 2003. [downloadable]

2002

S. Koenig and Y. Liu. The Interaction of Representations and Planning Objectives for Decision-Theoretic Planning Tasks. Journal of Experimental and Theoretical Artificial Intelligence, 14, 303-326, 2002. [downloadable]
Y. Liu, S. Koenig and D. Furcy. Speeding Up the Calculation of Heuristics for Heuristic Search-Based Planning. In AAAI Conference on Artificial Intelligence (AAAI), 484-491, 2002. [downloadable]
S. Koenig and M. Likhachev. D* Lite. In AAAI Conference of Artificial Intelligence (AAAI), 476-483, 2002. [downloadable]
S. Koenig, D. Furcy and C. Bauer. Heuristic Search-Based Replanning. In International Conference on Artificial Intelligence Planning and Scheduling (AIPS), 294-301, 2002. [downloadable]
S. Koenig and M. Likhachev. Incremental A*. In Advances in Neural Information Processing Systems (NeurIPS), 1539-1546, 2002. [downloadable]
M. Likhachev and S. Koenig. Incremental Replanning for Mapping. In IEEE International Conference on Intelligent Robots and Systems (IROS), 667-672, 2002. [downloadable]
S. Koenig and R. Holte. Preface. In Abstraction, Reformulation, and Approximation, volume 2371 of Lecture Notes in Artificial Intelligence , v-vi. 2002. [downloadable]
S. Koenig and M. Likhachev. Improved Fast Replanning for Robot Navigation in Unknown Terrain. Technical Report, GIT-COGSCI-2002/3, College of Computing, Georgia Institute of Technology, Atlanta (Georgia), 2002. [downloadable]

2001

S. Koenig. Minimax Real-Time Heuristic Search. Artificial Intelligence Journal, 129, (1-2), 165-197, 2001. [downloadable]
S. Koenig, B. Szymanski and Y. Liu. Efficient and Inefficient Ant Coverage Methods. Annals of Mathematics and Artificial Intelligence - Special Issue on Ant Robotics, 31, 41-76, 2001. [downloadable]
S. Koenig. Agent-Centered Search. Artificial Intelligence Magazine, 22, (4), 109-131, 2001. [downloadable]
S. Koenig and Y. Liu. Terrain Coverage with Ant Robots: A Simulation Study. In International Conference on Autonomous Agents (AGENTS), 600-607, 2001. [downloadable]
A. Atrash and S. Koenig. Probabilistic Planning for Behavior-Based Robots. In International FLAIRS Conference (FLAIRS), 531-535, 2001. [downloadable]
S. Koenig, C. Tovey and W. Halliburton. Greedy Mapping of Terrain. In IEEE International Conference on Robotics and Automation (ICRA), 3594-3599, 2001. [downloadable]
C. Tovey and S. Koenig. Greedy Localization. In International Conference on Intelligent Robots and Systems (IROS), 427-432, 2001. [downloadable]
L. McCrickard, S. Koenig, T. Fox and N. Ezquerra. Using Regression Techniques for the Automated Selection of Radiosurgery Plans. In International ICSC Symposium on Advanced Computing in Biomedicine (ACBM), 71-77, 2001. [downloadable]
S. Koenig. Minimax Real-Time Heuristic Search. Technical Report, GIT-COGSCI-2001/02, College of Computing, Georgia Institute of Technology, Atlanta (Georgia), 2001. [downloadable]

2000

R. Simmons, J. Fernandez, R. Goodwin, S. Koenig and J. O'Sullivan. Lessons Learned from Xavier. IEEE Robotics and Automation Magazine, 7, (2), 33-39, 2000. [downloadable]
D. Furcy and S. Koenig. Speeding up the Convergence of Real-Time Search. In AAAI Conference on Artificial Intelligence (AAAI), 891-897, 2000. [downloadable]
C. Tovey and S. Koenig. Gridworlds as Testbeds for Planning with Incomplete Information. In AAAI Conference on Artificial Intelligence (AAAI), 819-824, 2000. [downloadable]
S. Koenig and Y. Liu. Representations of Decision-Theoretic Planning Tasks. In International Conference on Artificial Intelligence Planning Systems (AIPS), 187-195, 2000. [downloadable]
S. Koenig. Planning-Task Transformations for Soft Deadlines. In International Workshop on Agent Theories, Architectures, and Languages (ATAL), 305-319, Springer, 2000. [downloadable]
D. Furcy and S. Koenig. Speeding up the Convergence of Real-Time Search: Empirical Setup and Proofs. Technical Report, College of Computing, Georgia Institute of Technology, Atlanta (Georgia), 2000. [downloadable]

1999

S. Koenig and B. Szymanski. Value-Update Rules for Real-Time Search. In AAAI Conference on Artificial Intelligence (AAAI), 718-724, 1999. [downloadable]
S. Koenig and Y. Liu. Sensor Planning with Non-Linear Utility Functions. In European Conference on Planning (ECP), 265-277, Springer, 1999. [downloadable]
S. Koenig. Exploring Unknown Environments with Real-Time Search or Reinforcement Learning. In Advances in Neural Information Processing Systems (NeurIPS), 1003-1009, 1999. [downloadable]
B. Szymanski and S. Koenig. The Complexity of Node Counting on Undirected Graphs. Technical Report, College of Computing, Georgia Institute of Technology, Atlanta (Georgia), 1999. [downloadable]

1998

S. Koenig and R.G. Simmons. Xavier: A Robot Navigation Architecture Based on Partially Observable Markov Decision Process Models. In Artificial Intelligence Based Mobile Robotics: Case Studies of Successful Robot Systems, D. Kortenkamp, R. Bonasso and R. Murphy (editor), 91-122. MIT Press, 1998. [downloadable]
S. Koenig and R.G. Simmons. Solving Robot Navigation Problems with Initial Pose Uncertainty Using Real-Time Heuristic Search. In International Conference on Artificial Intelligence Planning Systems (AIPS), 145-153, 1998. [downloadable]
S. Koenig. Real-Time Heuristic Search: Research Issues. In AIPS-98 Workshop on Planning as Combinatorial Search: Propositional, Graph-Based, and Disjunctive Planning Methods, 75-79, 1998. [downloadable]

1997

S. Koenig. Goal-Directed Acting with Incomplete Information. PhD thesis, School of Computer Science, Carnegie Mellon University, Pittsburgh (Pennsylvania), 1997. [downloadable]
R.G. Simmons, R. Goodwin, K. Haigh, S. Koenig and J. O'Sullivan. A Layered Architecture for Office Delivery Robots. In International Conference on Autonomous Agents (AGENTS), 245-252, 1997. [downloadable]
R.G. Simmons, R. Goodwin, K. Haigh, S. Koenig and J. O'Sullivan. Xavier: Experience with a Layered Robot Architecture. Sigart Bulletin, 8, (1-4), 22-33, 1997. [downloadable]

1996

S. Koenig and R.G. Simmons. The Effect of Representation and Knowledge on Goal-Directed Exploration with Reinforcement-Learning Algorithms. Machine Learning, 22, (1-3), 227-250, 1996. [downloadable]
S. Koenig, R. Goodwin and R.G. Simmons. Robot Navigation with Markov Models: A Framework for Path Planning and Learning with Limited Computational Resources. In Reasoning with Uncertainty in Robotics, L. Dorst, M. van Lambalgen and R. Voorbraak (editor), volume 1093 of Lecture Notes in Artificial Intelligence , 322-337. Springer, 1996. [downloadable]
S. Koenig and R.G. Simmons. Easy and Hard Testbeds for Real-Time Search Algorithms. In AAAI Conference on Artificial Intelligence (AAAI), 279-285, 1996. [downloadable]
S. Koenig. Agent-Centered Search: Situated Search with Small Look-Ahead [Student Abstract]. In AAAI Conference on Artificial Intelligence (AAAI), 1365, 1996. [downloadable]
R. Simmons, S. Thrun, G. Armstrong, R. Goodwin, K. Haigh, S. Koenig, S. Mahamud, D. Nikovski and J. O'Sullivan. Amelia [Robot Competition Abstract]. In AAAI Conference on Artificial Intelligence (AAAI), 1368, 1996. [downloadable]
S. Koenig and R.G. Simmons. Passive Distance Learning for Robot Navigation. In International Conference on Machine Learning (ICML), 266-274, 1996. [downloadable]
S. Koenig and Y. Smirnov. Graph Learning with a Nearest Neighbor Approach. In Conference on Computational Learning Theory (COLT), 19-28, 1996. [downloadable]
S. Koenig and R.G. Simmons. Unsupervised Learning of Probabilistic Models for Robot Navigation. In International Conference on Robotics and Automation (ICRA), 2301-2308, 1996. [downloadable]
E. Krotkov, R. Simmons, F. Cozman and S. Koenig. Safeguarded Teleoperation for Lunar Rovers: From Human Factors to Field Trials. In ICRA-96 Workshop on Planetary Rover Technology and Systems, 1996. [downloadable]
S. Koenig and R.G. Simmons. The Influence of Domain Properties on the Performance of Real-Time Search Algorithms. Technical Report, CMU-CS-96-115, School of Computer Science, Carnegie Mellon University, Pittsburgh (Pennsylvania), 1996. [downloadable]

1995

S. Koenig and R.G. Simmons. Real-Time Search in Non-Deterministic Domains. In International Joint Conference on Artificial Intelligence (IJCAI), 1660-1667, 1995. [downloadable]
R. Simmons and S. Koenig. Probabilistic Robot Navigation in Partially Observable Environments. In International Joint Conference on Artificial Intelligence (IJCAI), 1080-1087, 1995. [downloadable]
R. Simmons, E. Krotkov, L. Chrisman, F. Cozman, R. Goodwin, M. Hebert, L. Katragadda, S. Koenig, G. Krishnaswamy, Y. Shinoda, W. Whittaker and P. Klarer. Experience with Rover Navigation for Lunar-Like Terrains. In International Conference on Intelligent Robots and Systems (IROS), 441-446, 1995. [downloadable]
R. Simmons, E. Krotkov, L. Chrisman, F. Cozman, R. Goodwin, M. Hebert, G. Heredia, S. Koenig, P. Muir, Y. Shinoda and W. Whittaker. Mixed-Mode Control of Navigation for a Lunar Rover. In Princeton Space Manufacturing Conference, 209-215, 1995. [downloadable]
S. Koenig and R.G. Simmons. The Effect of Representation and Knowledge on Goal-Directed Exploration with Reinforcement-Learning Algorithms: The Proofs. Technical Report, CMU-CS-95-177, School of Computer Science, Carnegie Mellon University, Pittsburgh (Pennsylvania), 1995. [downloadable]

1994

S. Koenig and R.G. Simmons. How to Make Reactive Planners Risk-Sensitive. In International Conference on Artificial Intelligence Planning Systems (AIPS), 293-298, 1994. [downloadable]
S. Koenig and R.G. Simmons. Risk-Sensitive Planning with Probabilistic Decision Graphs. In International Conference on Principles of Knowledge Representation and Reasoning (KR), 363-373, 1994. [downloadable]

1993

S. Koenig and R.G. Simmons. Complexity Analysis of Real-Time Reinforcement Learning. In AAAI Conference on Artificial Intelligence (AAAI), 99-105, 1993. [downloadable]

1992

S. Koenig and R.G. Simmons. Complexity Analysis of Real-Time Reinforcement Learning Applied to Finding Shortest Paths in Deterministic Domains. Technical Report, CMU-CS-93-106, School of Computer Science, Carnegie Mellon University, Pittsburgh (Pennsylvania), 1992. [downloadable]

1991

S. Koenig. Optimal Probabilistic and Decision-Theoretic Planning using Markovian Decision Theory. Master's thesis, Computer Science Department, University of California at Berkeley, Berkeley (California), 1991. (available as Technical Report UCB/CSD 92/685). [downloadable]

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This page was automatically created by a bibliography maintenance system that was developed as part of an undergraduate research project, advised by Sven Koenig.

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