{"id":"https://openalex.org/W3038024331","doi":"https://doi.org/10.1609/icaps.v30i1.6661","title":"New Techniques for Pairwise Symmetry Breaking in Multi-Agent Path Finding","display_name":"New Techniques for Pairwise Symmetry Breaking in Multi-Agent Path Finding","publication_year":2020,"publication_date":"2020-06-01","ids":{"openalex":"https://openalex.org/W3038024331","doi":"https://doi.org/10.1609/icaps.v30i1.6661","mag":"3038024331"},"language":"en","primary_location":{"id":"doi:10.1609/icaps.v30i1.6661","doi":"https://doi.org/10.1609/icaps.v30i1.6661","is_oa":true,"landing_page_url":"https://doi.org/10.1609/icaps.v30i1.6661","pdf_url":"https://ojs.aaai.org/index.php/ICAPS/article/download/6661/6515","source":{"id":"https://openalex.org/S4387283601","display_name":"Proceedings of the International Conference on Automated Planning and Scheduling","issn_l":"2334-0835","issn":["2334-0835","2334-0843"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1"],"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the International Conference on Automated Planning and Scheduling","raw_type":"journal-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://ojs.aaai.org/index.php/ICAPS/article/download/6661/6515","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101499733","display_name":"Jiaoyang Li","orcid":"https://orcid.org/0000-0002-0032-1758","observed_orcids":["https://orcid.org/0000-0002-0032-1758"]},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jiaoyang Li","raw_affiliation_strings":["University of Southern California"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014363196","display_name":"Graeme Gange","orcid":"https://orcid.org/0000-0002-1354-431X","observed_orcids":["https://orcid.org/0000-0002-1354-431X"]},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Graeme Gange","raw_affiliation_strings":["Monash University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Monash University","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035664456","display_name":"Daniel Harabor","orcid":"https://orcid.org/0000-0001-6828-7712","observed_orcids":["https://orcid.org/0000-0001-6828-7712"]},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Daniel Harabor","raw_affiliation_strings":["Monash University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Monash University","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064839018","display_name":"Peter J. Stuckey","orcid":"https://orcid.org/0000-0003-2186-0459","observed_orcids":["https://orcid.org/0000-0003-2186-0459"]},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Peter J. Stuckey","raw_affiliation_strings":["Monash University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Monash University","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024389928","display_name":"Hang Ma","orcid":"https://orcid.org/0000-0002-0602-0999","observed_orcids":["https://orcid.org/0000-0002-0602-0999","https://orcid.org/0009-0001-5352-724X"]},"institutions":[{"id":"https://openalex.org/I18014758","display_name":"Simon Fraser University","ror":"https://ror.org/0213rcc28","country_code":"CA","type":"education","lineage":["https://openalex.org/I18014758"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Hang Ma","raw_affiliation_strings":["Simon Fraser University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Simon Fraser University","institution_ids":["https://openalex.org/I18014758"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026549557","display_name":"Sven Koenig","orcid":"https://orcid.org/0000-0002-5458-094X","observed_orcids":["https://orcid.org/0000-0002-5458-094X"]},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sven Koenig","raw_affiliation_strings":["University of Southern California"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.7762,"has_fulltext":true,"cited_by_count":51,"citation_normalized_percentile":{"value":0.93094088,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"30","issue":null,"first_page":"193","last_page":"201"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.0,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.0,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/multi-agent-pathfinding","display_name":"multi-agent path finding","score":0.9919999837875366},{"id":"https://openalex.org/keywords/conflict-based-search","display_name":"conflict-based search","score":0.8600000143051147},{"id":"https://openalex.org/keywords/collision-resolution","display_name":"collision resolution","score":0.8980000019073486},{"id":"https://openalex.org/keywords/symmetry-detection","display_name":"symmetry detection","score":0.6919999718666077},{"id":"https://openalex.org/keywords/constraint-based-reasoning","display_name":"constraint-based reasoning","score":0.3919999897480011}],"concepts":[{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.7490687370300293},{"id":"https://openalex.org/C96469262","wikidata":"https://www.wikidata.org/wiki/Q1324364","display_name":"Homogeneous space","level":2,"score":0.7336628437042236},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6764172315597534},{"id":"https://openalex.org/C2779886137","wikidata":"https://www.wikidata.org/wiki/Q21030012","display_name":"Symmetry (geometry)","level":2,"score":0.6086474657058716},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.569638729095459},{"id":"https://openalex.org/C33026886","wikidata":"https://www.wikidata.org/wiki/Q593950","display_name":"Rotational symmetry","level":2,"score":0.5620818734169006},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5497027039527893},{"id":"https://openalex.org/C204795200","wikidata":"https://www.wikidata.org/wiki/Q903282","display_name":"Symmetry breaking","level":2,"score":0.47369837760925293},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.4573689103126526},{"id":"https://openalex.org/C2779291638","wikidata":"https://www.wikidata.org/wiki/Q1455736","display_name":"Local symmetry","level":2,"score":0.411770224571228},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.41110071539878845},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3897835612297058},{"id":"https://openalex.org/C33332235","wikidata":"https://www.wikidata.org/wiki/Q18362","display_name":"Theoretical physics","level":1,"score":0.33442026376724243},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3204309642314911},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2739143371582031},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22911113500595093},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14871373772621155},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0786844789981842},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1609/icaps.v30i1.6661","doi":"https://doi.org/10.1609/icaps.v30i1.6661","is_oa":true,"landing_page_url":"https://doi.org/10.1609/icaps.v30i1.6661","pdf_url":"https://ojs.aaai.org/index.php/ICAPS/article/download/6661/6515","source":{"id":"https://openalex.org/S4387283601","display_name":"Proceedings of the International Conference on Automated Planning and Scheduling","issn_l":"2334-0835","issn":["2334-0835","2334-0843"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1"],"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the International Conference on Automated Planning and Scheduling","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1609/icaps.v30i1.6661","doi":"https://doi.org/10.1609/icaps.v30i1.6661","is_oa":true,"landing_page_url":"https://doi.org/10.1609/icaps.v30i1.6661","pdf_url":"https://ojs.aaai.org/index.php/ICAPS/article/download/6661/6515","source":{"id":"https://openalex.org/S4387283601","display_name":"Proceedings of the International Conference on Automated Planning and Scheduling","issn_l":"2334-0835","issn":["2334-0835","2334-0843"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1"],"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the International Conference on Automated Planning and Scheduling","raw_type":"journal-article"},"sustainable_development_goals":[],"sustainable_development_goals_aurora":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G5118135302","display_name":"CPS: Small: Novel Algorithmic Techniques for Drone Flight Planning on a Large Scale","funder_award_id":"1837779","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G542566607","display_name":"NSF-BSF:RI:Small:Collaborative Research:Next-Generation Multi-Agent Path Finding Algorithms","funder_award_id":"1817189","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6861119503","display_name":"S&AS: FND: Long-Term Planning and Robust Plan Execution for Multi-Robot Systems","funder_award_id":"1724392","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8978827964","display_name":"RI: Medium: Collaborative Research: Experience-Based Planning: A Framework for Lifelong Planning","funder_award_id":"1409987","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320308668","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3038024331.pdf","grobid_xml":"https://content.openalex.org/works/W3038024331.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W119150805","https://openalex.org/W964554611","https://openalex.org/W1549280300","https://openalex.org/W1989407213","https://openalex.org/W2137514195","https://openalex.org/W2168424616","https://openalex.org/W2191404279","https://openalex.org/W2574186214","https://openalex.org/W2576053140","https://openalex.org/W2627004156","https://openalex.org/W2775798521","https://openalex.org/W2808601890","https://openalex.org/W2809708768","https://openalex.org/W2903837854","https://openalex.org/W2905054495","https://openalex.org/W2914296650","https://openalex.org/W2949992533","https://openalex.org/W2964945728","https://openalex.org/W2965682046","https://openalex.org/W2979809112","https://openalex.org/W6740625665","https://openalex.org/W6766472950"],"related_works":["https://openalex.org/W1569363442","https://openalex.org/W2043353439","https://openalex.org/W2123514462","https://openalex.org/W3100932619","https://openalex.org/W3207893191","https://openalex.org/W2073409773","https://openalex.org/W1995869571","https://openalex.org/W2070123795","https://openalex.org/W2021925860","https://openalex.org/W2084561716"],"abstract_inverted_index":{"We":[0,98,123],"consider":[1],"two":[2,27],"new":[3,105],"classes":[4],"of":[5,14,21,49,57,80,113,139,148],"pairwise":[6],"path":[7,48],"symmetries":[8,71,103],"which":[9],"appear":[10],"in":[11,37,77,130],"the":[12,33,46,54,62,78,136],"context":[13],"Multi-Agent":[15],"Path":[16],"Finding":[17],"(MAPF).":[18],"The":[19,40],"first":[20],"them,":[22],"corridor":[23],"symmetry,":[24,43],"arises":[25,44],"when":[26,45],"agents":[28],"attempt":[29],"to":[30,85,100],"pass":[31],"through":[32,53],"same":[34],"narrow":[35],"passage":[36],"opposite":[38],"directions.":[39],"second,":[41],"target":[42,55],"shortest":[47],"one":[50,146],"agent":[51,60,64],"passes":[52],"location":[56],"a":[58],"second":[59,63],"after":[61],"has":[65],"already":[66],"arrived":[67],"at":[68],"it.":[69],"These":[70],"can":[72],"produce":[73],"an":[74],"exponential":[75],"explosion":[76],"space":[79],"possible":[81],"collision":[82],"resolutions,":[83],"leading":[84],"unacceptable":[86],"runtimes":[87],"even":[88],"for":[89],"state-of-the-art":[90],"MAPF":[91],"algorithms":[92],"such":[93],"as":[94],"Conflict-Based":[95],"Search":[96],"(CBS).":[97],"propose":[99],"break":[101],"these":[102],"using":[104],"reasoning":[106],"techniques":[107,128],"that:":[108],"(1)":[109],"detect":[110],"each":[111],"class":[112],"symmetry":[114],"and":[115,141],"(2)":[116],"resolve":[117],"them":[118],"by":[119,145],"introducing":[120],"specialized":[121],"constraints.":[122],"experimentally":[124],"show":[125],"that":[126],"our":[127],"can,":[129],"some":[131],"cases,":[132],"more":[133],"than":[134],"double":[135],"success":[137],"rate":[138],"CBS":[140],"improve":[142],"its":[143],"runtime":[144],"order":[147],"magnitude.":[149]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":16},{"year":2019,"cited_by_count":1}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2025-10-10T00:00:00"}
