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

(You can click on the pictures for more information.)

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]

2022

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 Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 2022. [downloadable]

2021

S. Koenig, S.-H. Chan, J. Li and Yi 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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. Artficial Intelligence Operations Research Workshop 1 Report Out. Technical Report, [downloadable]

2020

D. Atzmon, J. Li, A. Felner, E. Nachmani, S. Shperberg, N. Sturtevant and S. Koenig. Multi-Directional Heuristic Search. In Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the IJCAI 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the AIAA Aviation Forum and Exposition (AIAA), 2019. [downloadable]
O. Walker, F. Vanegas, F. Gonzalez and S. Koenig. A Deep Reinforcement Learning Framework for UAV Navigation in Indoor Environments. In Proceedings of the 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 Proceedings of the 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 Proceedings of the IJCAI Workshop on Multi-Agent Path Finding, (in print), 2019. [downloadable]

2018

T. Uras and S. Koenig. Understanding Subgoal Graphs by Augmenting Contraction Hierarchies. In Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the International Symposium on Artificial Intelligence and Mathematics (ISAIM), 2018. [downloadable]
S. Koenig, C. Muise and S. Sanner. Non-Traditional Objective Functions for MDPs. In Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the Australasian Joint Conference on Artificial Intelligence (AI), 340-352, 2017. [downloadable]
T. Uras and S. Koenig. Feasibility Study: Subgoal Graphs on State Lattices. In Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 1757-1758, 2015. The final publication is available at www.aamas-conference.org. [downloadable]

2014

M. Cirillo, T. Uras and S. Koenig. A Lattice-Based Approach to Multi-Robot Motion Planning for Non-Holonomic Vehicles. In Proceedings of the 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 Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 2308-2314, 2014. [downloadable]
T. Uras and S. Koenig. Identifying Hierarchies for Fast Optimal Search. In Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 2014. [downloadable]
S. Kumar, S. Jung and S. Koenig. A Tree-Based Algorithm for Construction Robots. In Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 2013. [downloadable]
S. Kumar, M. Cirillo and S. Koenig. Simple Temporal Problems with Taboo Regions. In Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 2013. [downloadable]
S. Kumar, L. Cohen and S. Koenig. Incorrect Lower Bounds for Path Consistency and More. In Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 2012. [downloadable]
C. Hernandez, J. Baier, T. Uras and S. Koenig. Time-Bounded Adaptive A*. In Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), 478-483, 2011. [downloadable]
C. Hernandez, X. Sun, S. Koenig and P. Meseguer. Tree Adaptive A*. In Proceedings of the 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 Proceedings of the 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 Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 2010. [downloadable]
X. Zheng and S. Koenig. Sequential Incremental-Value Auctions. In Proceedings of the 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 Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 2010. [downloadable]
X. Zheng and S. Koenig. Market-Based Algorithms for Allocating Complex Tasks [Student Abstract]. In Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the ICAPS-10 Workshop on Combining Action and Motion Planning, 2010. [downloadable]
S. Koenig. Open Problem: Analyzing Ant Robot Coverage. In Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 1007-1012, 2007. [downloadable]
S. Koenig, M. Likhachev and X. Sun. Speeding up Moving-Target Search. In Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 1186-1193, 2006. [downloadable]
S. Koenig and M. Likhachev. Real-Time Adaptive A*. In Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), 1521-1522, 2005. [downloadable]
M. Likhachev and S. Koenig. A Generalized Framework for Lifelong Planning A*. In Proceedings of the 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 Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 1041-1048, 2005. [downloadable]
S. Koenig and M. Likhachev. Adaptive A* [Short Paper]. In Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 75-82, 2003. [downloadable]
C. Tovey, S. Greenberg and S. Koenig. Improved Analysis of D*. In Proceedings of the 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 Proceedings of the 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 Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 484-491, 2002. [downloadable]
S. Koenig and M. Likhachev. D* Lite. In Proceedings of the AAAI Conference of Artificial Intelligence (AAAI), 476-483, 2002. [downloadable]
S. Koenig, D. Furcy and C. Bauer. Heuristic Search-Based Replanning. In Proceedings of the 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 Proceedings of the 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 Proceedings of the International Conference on Autonomous Agents (AGENTS), 600-607, 2001. [downloadable]
A. Atrash and S. Koenig. Probabilistic Planning for Behavior-Based Robots. In Proceedings of the International FLAIRS Conference (FLAIRS), 531-535, 2001. [downloadable]
S. Koenig, C. Tovey and W. Halliburton. Greedy Mapping of Terrain. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 3594-3599, 2001. [downloadable]
C. Tovey and S. Koenig. Greedy Localization. In Proceedings of the 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 Proceedings of the 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 Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 891-897, 2000. [downloadable]
C. Tovey and S. Koenig. Gridworlds as Testbeds for Planning with Incomplete Information. In Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 819-824, 2000. [downloadable]
S. Koenig and Y. Liu. Representations of Decision-Theoretic Planning Tasks. In Proceedings of the International Conference on Artificial Intelligence Planning Systems (AIPS), 187-195, 2000. [downloadable]
S. Koenig. Planning-Task Transformations for Soft Deadlines. In Proceedings of the 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 Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 718-724, 1999. [downloadable]
S. Koenig and Y. Liu. Sensor Planning with Non-Linear Utility Functions. In Proceedings of the 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 Proceedings of the International Conference on Artificial Intelligence Planning Systems (AIPS), 145-153, 1998. [downloadable]
S. Koenig. Real-Time Heuristic Search: Research Issues. In Proceedings of the 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 Proceedings of the 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 Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 279-285, 1996. [downloadable]
S. Koenig. Agent-Centered Search: Situated Search with Small Look-Ahead [Student Abstract]. In Proceedings of the 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 Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 1368, 1996. [downloadable]
S. Koenig and R.G. Simmons. Passive Distance Learning for Robot Navigation. In Proceedings of the International Conference on Machine Learning (ICML), 266-274, 1996. [downloadable]
S. Koenig and Y. Smirnov. Graph Learning with a Nearest Neighbor Approach. In Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), 1660-1667, 1995. [downloadable]
R. Simmons and S. Koenig. Probabilistic Robot Navigation in Partially Observable Environments. In Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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 Proceedings of the 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]

Many publishers do not want authors to make their papers available electronically after the papers have been published. Please use the electronic versions provided here only if hardcopies are not yet available. If you have comments on any of these papers, please send me an email! Also, please send me your papers if we have common interests.

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

Home Page of Sven Koenig