The following researchers are currently members of the lab, besides Sven Koenig:
Yimin Tang (Graduate Student)
Yimin received a B.Eng. in Computer Science from ShanghaiTech
University in 2020 and an M.S. in Robotics from Carnegie Mellon
University in 2023. He also worked as a software development engineer
on the Microsoft AzureStack Team from 2020 to 2021. He is interested
in artificial intelligence, focusing on reinforcement learning, path
planning, and robot learning. He received a USC Viterbi School of
Engineering Fellowship in 2023 and a Best Paper Candidate Award at the
International Symposium on Multi-Robot and Multi-Agent Systems in
2023. More information can be found on
his homepage.
Dr. Liron Cohen (Former Graduate Student)
Liron
received a B.S. in Computer Engineering in 2007 and an M.S. in Computer
Science in 2012, both from the Hebrew University of Jerusalem. Liron is
interested in combinatorial problems related to constraint-based reasoning and
symbolic planning. Specifically, he is looking at novel algorithmic techniques
for exploiting structure in such combinatorial problems. He received an
Outstanding Paper Award in the Robotics Track of the International Conference
on Automated Planning and Scheduling in 2016, a Best Teaching Award from the
Computer Science Department of USC in 2016, and a Technology Commercialization
Award from the USC Stevens Center for Innovation in 2019. More information can
be found on his homepage.
Previously seen: Software Engineer at Waymo
Last seen: Technical Lead at Mujin
- 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]
- 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]
- 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]
- 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]
- 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]
- 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, 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
Kenny Daniel (Former Graduate Student)
Kenny
received a B.S. in Computer Science and a B.S. in Mathematics from Carnegie
Mellon University in 2006 and subsequently a Master's degree from USC. He
placed 6th in the ACM Southern California Regional Programming Contest (out of
63 teams) in 2007, 1st in the USC Programming Contest (out of 31 students) in
2007, 2nd in the ACM Southern California Regional Programming Contest (out of
73 teams) in 2006, and 2nd in the USC Programming Contest (out of 49 students)
in 2006.
Last seen: Cofounder of
Algorithmia, Inc.
Read about Algorithmia in Wired and in the
USC News.
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
Dr. David Furcy (Former Graduate Student)
David
received a B.S. in Computer Engineering from the Universite de
Technologie de Compiegne (France) in 1993, an M.S. in Computer Science from
the Universite de Technologie de Compiegne (France) in 1994, an M.S. in
Computer Science from the University of Iowa in 1997, and a Ph.D. in Computer
Science from Georgia Institute of Technology in 2004 for his dissertation
"Speeding up the Convergence of Online Heuristic Search and Scaling up Offline
Heuristic Search." He was nominated for the Best Paper Award of the
International Conference on Automated Planning and Scheduling in 2004. More
information can be found on his homepage.
Previously seen: Interim Professor at Blackburn College
Last seen: Professor at the University of Wisconsin Oshkosh
- D. Furcy and S. Koenig. Limited Discrepancy Beam Search. In International Joint Conference on Artificial Intelligence (IJCAI), 125-131, 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]
- S. Koenig, M. Likhachev and D. Furcy. Lifelong Planning A*. Artificial Intelligence Journal, 155, (1-2), 93-146, 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]
- 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, D. Furcy and C. Bauer. Heuristic Search-Based Replanning. In International Conference on Artificial Intelligence Planning and Scheduling (AIPS), 294-301, 2002. [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]
- 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]
Dr. Taoan Huang (Former Graduate Student)
Taoan received a B.Eng. in Computer Science from the Institute of
Interdisciplinary Information Sciences at Tsinghua University in 2019. He is
interested in artificial intelligence with a focus on multi-agent systems,
combinatorial optimization, machine learning, computational sustainability,
and computational game theory. He received a USC Annenberg Graduate Fellowship
in 2019. More information can be found on
his homepage.
Last seen: Quantitative Researcher at Cubist Systematic Strategies.
- 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), 189-197, 2023. [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. 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]
- 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]
- 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]
Dr. Jiaoyang Li (Former Graduate Student)
Jiaoyang
received a B.Eng. in Automation from Tsinghua University in 2017 and a Ph.D. in
Computer Science from USC in 2022 for her dissertation "". She is
interested in artificial intelligence, heuristic search, scheduling and
planning for robotics, transportation, and supply chain management.
More information can be found on her homepage.
Last seen: Assistant Professor at Carnegie Mellon University
- H. Zhang, S.-H. Chan, J. Zhong, J. Li, P. Kolapo, S. Koenig, Z. Agioutantis, S. Schafrik and S. Nikolaidis. Multi-Robot Geometric Task-and-Motion Planning for Collaborative Manipulation Tasks. Autonomous Robots, 47, (8), 1537-1558, 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), 11578-11585, 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), 128-137, 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), 361-369, 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), 189-197, 2023. [downloadable]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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, 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
Dr. Yaxin Liu (Former Graduate Student)
Yaxin received a B.S. in Computer Science from Peking University in 1994,
an M.S. in Computer Science from Peking University in 1997, and a Ph.D. in
Computer Science from Georgia Institute of Technology in 2005 for his
dissertation "Decision-Theoretic Planning Under Risk-Sensitive Planning
Objectives." He received IBM Fellowship Awards in 2002 and 2003, the Outstanding
Graduate Research Assistant Award from the College of Computing at Georgia
Institute of Technology in 2002, and the Outstanding Dissertation Award from
the College of Computing at Georgia Institute of Technology in
2007.
Previously seen: Research Scientist at the University of Texas at Austin
Previously seen: Lead Scientist at Isaac
Last seen: Software Engineer at Google
- 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]
- 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]
- 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]
- 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]
- S. Koenig, M. Likhachev, Y. Liu and D. Furcy. Incremental Heuristic Search in Artificial Intelligence. Artificial Intelligence Magazine, 25, (2), 99-112, 2004. [downloadable]
- 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, 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 and Y. Liu. Terrain Coverage with Ant Robots: A Simulation Study. In International Conference on Autonomous Agents (AGENTS), 600-607, 2001. [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 and Y. Liu. Sensor Planning with Non-Linear Utility Functions. In European Conference on Planning (ECP), 265-277, Springer, 1999. [downloadable]
Dr. Hang Ma (Former Graduate Student)
Hang
received a B.S. (First Class with Distinction) in Computing Science from Simon
Fraser University in 2012, a B.Eng. in Computer Science and Technology from
Zhejiang University in 2012 and an M.S. in Computer Science from McGill
University in 2014. Hang is interested in artificial intelligence, machine
learning and robotics. He received a USC Annenberg Graduate Fellowship in
2014, an Outstanding Paper Award in the Robotics Track of the International
Conference on Automated Planning and Scheduling in 2016, and a Technology
Commercialization Award from the USC Stevens Center for Innovation in
2019. More information can be found on his homepage.
Last seen: Assistant Professor at Simon Fraser University
- 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), 472-480, 2023. [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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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. Ma and S. Koenig. AI Buzzwords Explained: Multi-Agent Path Finding (MAPF). AI Matters, 3, (3), 15-19, 2017. [downloadable]
- 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]
- 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]
- 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]
Dr. Alex Nash (Former Graduate Student)
Alex
received a B.S. in Computer Science from Yale University in 2004, an M.S. in
Computer Science from USC in 2006 and a Ph.D. in Computer Science from USC in
2012 for his dissertation "Any-Angle Path Planning." He received a fellowship
from Northrop Grumman Corporation, where he had worked since 2005 and his IR&D
team had received two Gold Awards.
Previously seen: Group Lead at Northrop Grumman Corporation
Last seen: Group Lead at Amazon Prime Air
- A. Nash. Any-Angle Path Planning. PhD thesis, Department of Computer Science, University of Southern California, Los Angeles (California), 2012. [downloadable]
- A. Nash and S. Koenig. Any-Angle Path Planning. Artificial Intelligence Magazine, 34, (4), 85-107, 2013. [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]
- 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]
- 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]
- 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]
- 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]
- 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]
Dr. Xiaoxun Sun (Former Graduate Student)
Xiaoxun
received a B.E. in Computer Science from Beijing University of Aeronautics and
Astronautics in 2003, an M.S. (with honors) in Media and Knowledge Engineering
from Delft University of Technology in 2005, an M.S. in Computer Science from
USC in 2008, and a Ph.D. in Computer Science from USC in 2013 for his
dissertation "Incremental Search-Based Path-Planning for Moving Target
Search." He received a USC Annenberg Graduate Fellowship in 2007.
Previously seen: Software Engineer at Google
Last seen: Founder and CEO of LaiOffer
- 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]
- 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]
- 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, 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- W. Yeoh, S. Koenig and X. Sun. Trading Off Solution Cost for Smaller Runtime in DCOP Search Algorithms [Short Paper]. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 1445-1448, 2008.
- W. Yeoh, S. Koenig and X. Sun. Trading Off Solution Cost for Smaller Runtime in DCOP Search Algorithms (Extended Version). In International Workshop on Distributed Constraint Reasoning (DCR), 25-35, 2008.
- 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, M. Likhachev and X. Sun. Speeding up Moving-Target Search. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2007. [downloadable]
Tansel Uras (Former Graduate Student)
Tansel
received a B.S. in Computer Science (with a minor in Mathematics) in 2009, an
M.S. in Computer Science in 2011 from Sabanci University, and a Ph.D. in
Computer Science from USC in 2019 for his dissertation "Speeding Up Path
Planning on State Lattices and Grid Graphs by Exploiting Freespace Structure."
He had the fastest entry in the Grid-Based Path Planning Competition among all
optimal entries that solved all planning problems in 2012 and 2013. He
received a Best Research Assistant Award from the Computer Science Department
of USC in 2014, a Best Teaching Assistant Award from the Computer Science
Department of USC in 2016, and a Technology Commercialization Award from the
USC Stevens Center for Innovation in 2019.
Previously seen: Software Engineer at Waymo
Last seen: Software Engineer at Motional
- 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. 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]
- 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]
- T. Uras and S. Koenig. Understanding Subgoal Graphs by Augmenting Contraction Hierarchies. In International Joint Conference on Artificial Intelligence (IJCAI), 1506-1513, 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]
- 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. 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]
- T. Uras and S. Koenig. Feasibility Study: Subgoal Graphs on State Lattices. In Symposium on Combinatorial Search (SoCS), 100-108, 2017. [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, 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]
- 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]
- 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]
- 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]
- 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]
- T. Uras and S. Koenig. Identifying Hierarchies for Fast Optimal Search. In AAAI Conference on Artificial Intelligence (AAAI), 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]
- 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]
- 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]
- C. Hernandez, J. Baier, T. Uras and S. Koenig. Demonstration Abstract: New Developments in Real-Time Heuristic Search: A Demo. In International Conference on Automated Planning and Scheduling (ICAPS), 2012. [downloadable]
- C. Hernandez, J. Baier, T. Uras and S. Koenig. Paper Summary: Time-Bounded Adaptive A*. In Symposium on Combinatorial Search (SoCS), 2012. [downloadable]
Dr. Daniel Wong (Former Undergraduate Student)
Daniel
received a B.S in Computer Engineering/Computer Science from USC in 2009 and
then entered the Ph.D. program in Electrical Engineering at USC as a recipient
of a USC Provost Graduate Fellowship. He was a recipient of the Rose Hills
Foundation Science and Engineering Fellowship in 2009 and the Rose Hills
Foundation Scholarship. He is a member of Tau Beta Pi and Eta Kappa Nu. More
information can be found on his homepage.
Previously seen: Graduate Student at USC
Last seen: Associate Professor at the University of California at Riverside
- 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]
Dr. William Yeoh (Former Graduate Student)
William
received a B.S.E. (Magna cum Laude) and M.S. in Mechanical Engineering and
Applied Mechanics from the University in Pennsylvania in 2004, an M.S. in
Computer Science from USC in 2007, and a Ph.D. in Computer Science from USC in
2010 for his dissertation "Speeding up Distributed Constraint Optimization
Search Algorithms." He received an Outstanding Teaching Assistant Award from
the Computer Science Department of USC in both 2004 and 2007, was nominated
for the University Outstanding Teaching Assistant Award in 2008, received an
Award for Excellence in Teaching from the USC Center for Excellence in
Teaching in 2008, was nominated for the Pragnesh Jay Modi Best Student Paper
Award of the International Conference on Autonomous Agents and Multi-Agent
Systems in 2009, received the Outstanding Research Assistant Award from the
Computer Science Department of USC in 2009, and is a member of both Phi Kappa
Phi and Pi Tau Sigma. He was selected by IEEE Intelligent Systems in 2015 as
one of the "AI's 10 to Watch." The call for nominations stated: "Every two
years, IEEE Intelligent Systems acknowledges and celebrates 10 young stars in
the field of AI as "AI's 10 to Watch." These accomplished researchers have all
completed their doctoral work in the past five years. Despite being relatively
junior in their career, each one has made impressive research contributions
and had an impact in the literature - and in some cases, in real-world
applications as well." More information can be found on his homepage.
Previously seen: Postdoctoral Researcher at the University of Massachusetts at Amherst
Previously seen: Research Scientist at Singapore Management University
Previously seen: Assistant Professor at New Mexico State University
Last seen: Associate Professor at Washington University in St. Louis
- 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]
- 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]
- 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. 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- W. Yeoh, S. Koenig and X. Sun. Trading Off Solution Cost for Smaller Runtime in DCOP Search Algorithms [Short Paper]. In International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 1445-1448, 2008.
- W. Yeoh, S. Koenig and X. Sun. Trading Off Solution Cost for Smaller Runtime in DCOP Search Algorithms (Extended Version). In International Workshop on Distributed Constraint Reasoning (DCR), 25-35, 2008.
- 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]
- 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]
Dr. Xiaoming Zheng (Former Graduate Student)
Xiaoming received a B.E. in Computer Science from the University of Science
and Technology of China in 2004, an M.S in Computer Science from USC in 2007,
an M.A. in Economics from USC in 2008, and a Ph.D. in Computer Science from
USC in 2014 for his dissertation "Auction and Negotiation Algorithms for
Cooperative Task Allocations." Xiaoming is interested in
coordinating agents with market mechanisms. Market mechanisms, such as
auctions and negotiations, are decentralized approaches and appear to perform
well in many situations. Auctions, for example, are efficient in terms of both
the required amount of computation and communication (since information is
compressed into numeric bids that the agents can compute in parallel) and can
result in near-optimal task allocations. Market-based coordination algorithms
apply to robotics, for example for planetary exploration or search
and rescue. His research centers on exploring the trade-off between
the computation/communication effort and the resulting team performance and on
extending the functionality of market-based coordination algorithms. More
information can be found on his homepage.
Last seen: Researcher at Facebook
- 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]
- 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]
- X. Zheng and S. Koenig. Sequential Incremental-Value Auctions. 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]
- 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]
- 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]
- 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. 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
- 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]
Former Visitors
Giuseppe Caggianese
Giuseppe received a second-level degree in Computer Science in 2010 with a
thesis on "A GPU Implementation of Path-Finding Algorithms for Massive Numbers
of Agents in Dynamic Environments." Giuseppe is now a Ph.D. student in Methods
and Technologies for Environmental Monitoring at the Department of
Environmental Engineering and Physics, University of Basilicata (Italy).
Giuseppe is interested in parallel programming with the CUDA architecture and
general-purpose computing on GPUs, behavioral models for mobile agents,
multi-agent path finding, real-time computer animation, motion planning with
heuristic search, robot simulations, and sensors and sensing technologies for
environmental applications. Giuseppe visited our lab for 12 months in
2012/2013.
Dr. Carlos Hernández
Carlos is an Associate Professor at the Universidad
Católica de la Ssma. Concepción (Chile). He received a B.S. in
Computer Engineering from the Universidad de Concepción (Chile) in 1996
and a Ph.D. in Computer Science from Universidad Autónoma de Barcelona
(Spain) in 2008 for his dissertation "Bounded Propagation in Real-Time
Heuristic Search." Carlos is interested in heuristic search, automated
planning, real-time heuristic search, incremental heuristic search, path
planning, multi-agent systems and sensor networks, among other topics. Carlos
visited our lab for 3.5 months in 2009, 1 month in 2010, 8 months in
2011/2012, 1 month in 2013, and 2.5 months in 2017.
- Z. Ren, S. Hernandez, M. Likhachev, A. Felner, S. Koenig, O. Salzman, S. Rahinam and H. Choset. EMOA*: A Framework for Search-Based Multi-Objective Path Planning. Artificial Intelligence, 339, 2025. [downloadable]
- 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]
- 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), 6759-6768, 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), 452-461, 2023. [downloadable]
- H. Zhang, O. Salzman, A. Felner, S. Kumar, S. Skyler, C. Hernandez and S. Koenig. Towards Effective Multi-Valued Heuristics for Bi-Objective Shortest-Path Algorithms via Differential Heuristics. In Symposium on Combinatorial Search (SoCS), 101-109, 2023. [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]
- 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]
- 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]
- 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]
- 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]
- 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]
- C. Hernandez, J. Baier, T. Uras and S. Koenig. Demonstration Abstract: New Developments in Real-Time Heuristic Search: A Demo. In International Conference on Automated Planning and Scheduling (ICAPS), 2012. [downloadable]
- C. Hernandez, J. Baier, T. Uras and S. Koenig. Paper Summary: Time-Bounded Adaptive A*. In Symposium on Combinatorial Search (SoCS), 2012. [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]
- 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]
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.
research group celebrating a productive year
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