{"id":"https://openalex.org/W3176604482","doi":"https://doi.org/10.24963/ijcai.2021/568","title":"Anytime Multi-Agent Path Finding via Large Neighborhood Search","display_name":"Anytime Multi-Agent Path Finding via Large Neighborhood Search","publication_year":2021,"publication_date":"2021-05-03","ids":{"openalex":"https://openalex.org/W3176604482","doi":"https://doi.org/10.24963/ijcai.2021/568","mag":"3176604482"},"language":"en","primary_location":{"id":"doi:10.24963/ijcai.2021/568","is_oa":true,"landing_page_url":"https://doi.org/10.24963/ijcai.2021/568","pdf_url":"https://www.ijcai.org/proceedings/2021/0568.pdf","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Thirtieth International Joint Conference on Artificial Intelligence","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.ijcai.org/proceedings/2021/0568.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101499733","display_name":"Jiaoyang Li","orcid":"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"]},{"id":"https://openalex.org/I2800817003","display_name":"California Southern University","ror":"https://ror.org/058zz0t50","country_code":"US","type":"education","lineage":["https://openalex.org/I2800817003"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jiaoyang Li","raw_affiliation_strings":["University of Southern California","University  of Southern California"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California","institution_ids":["https://openalex.org/I1174212","https://openalex.org/I2800817003"]},{"raw_affiliation_string":"University  of Southern California","institution_ids":["https://openalex.org/I1174212","https://openalex.org/I2800817003"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100457773","display_name":"Zhe Chen","orcid":"https://orcid.org/0000-0003-4599-1170"},"institutions":[{"id":"https://openalex.org/I2801239119","display_name":"Australian Regenerative Medicine Institute","ror":"https://ror.org/02qa5kg76","country_code":"AU","type":"facility","lineage":["https://openalex.org/I2801037857","https://openalex.org/I2801239119","https://openalex.org/I56590836"]},{"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":"Zhe Chen","raw_affiliation_strings":["Monash University","Monash#N#        University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Monash University","institution_ids":["https://openalex.org/I2801239119","https://openalex.org/I56590836"]},{"raw_affiliation_string":"Monash#N#        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"},"institutions":[{"id":"https://openalex.org/I2801239119","display_name":"Australian Regenerative Medicine Institute","ror":"https://ror.org/02qa5kg76","country_code":"AU","type":"facility","lineage":["https://openalex.org/I2801037857","https://openalex.org/I2801239119","https://openalex.org/I56590836"]},{"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","Monash#N#        University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Monash University","institution_ids":["https://openalex.org/I2801239119","https://openalex.org/I56590836"]},{"raw_affiliation_string":"Monash#N#        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"},"institutions":[{"id":"https://openalex.org/I2801239119","display_name":"Australian Regenerative Medicine Institute","ror":"https://ror.org/02qa5kg76","country_code":"AU","type":"facility","lineage":["https://openalex.org/I2801037857","https://openalex.org/I2801239119","https://openalex.org/I56590836"]},{"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","Monash#N#        University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Monash University","institution_ids":["https://openalex.org/I2801239119","https://openalex.org/I56590836"]},{"raw_affiliation_string":"Monash#N#        University","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026549557","display_name":"Sven Koenig","orcid":"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"]},{"id":"https://openalex.org/I2800817003","display_name":"California Southern University","ror":"https://ror.org/058zz0t50","country_code":"US","type":"education","lineage":["https://openalex.org/I2800817003"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sven Koenig","raw_affiliation_strings":["University of Southern California","University  of Southern California"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California","institution_ids":["https://openalex.org/I1174212","https://openalex.org/I2800817003"]},{"raw_affiliation_string":"University  of Southern California","institution_ids":["https://openalex.org/I1174212","https://openalex.org/I2800817003"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1454,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.86226722,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1581","last_page":"1583"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9972000122070312,"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":0.9972000122070312,"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/T11106","display_name":"Data Management and Algorithms","score":0.9865999817848206,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9661999940872192,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5837521553039551},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5455654263496399},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.342806339263916},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.1791987121105194}],"concepts":[{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5837521553039551},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5455654263496399},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.342806339263916},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.1791987121105194}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.24963/ijcai.2021/568","is_oa":true,"landing_page_url":"https://doi.org/10.24963/ijcai.2021/568","pdf_url":"https://www.ijcai.org/proceedings/2021/0568.pdf","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Thirtieth International Joint Conference on Artificial Intelligence","raw_type":"proceedings-article"},{"id":"doi:10.65109/rrxp4543","is_oa":false,"landing_page_url":"https://doi.org/10.65109/rrxp4543","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Joint Conference on Autonomous Agents and Multiagent Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:monash.edu:publications/e4633d53-d382-44c8-8b68-3234929ea13f","is_oa":true,"landing_page_url":"https://research.monash.edu/en/publications/e4633d53-d382-44c8-8b68-3234929ea13f","pdf_url":null,"source":{"id":"https://openalex.org/S4306402625","display_name":"Monash University Research Portal (Monash University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I56590836","host_organization_name":"Monash University","host_organization_lineage":["https://openalex.org/I56590836"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"mag:3176604482","is_oa":false,"landing_page_url":"https://dblp.uni-trier.de/db/conf/atal/aamas2021.html#0001CHSK21","pdf_url":null,"source":{"id":"https://openalex.org/S5405189","display_name":"Autonomous Agents and Multi-Agent Systems","issn_l":"1387-2532","issn":["1387-2532","1573-7454"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"Autonomous Agents and Multi-Agent Systems","raw_type":null}],"best_oa_location":{"id":"doi:10.24963/ijcai.2021/568","is_oa":true,"landing_page_url":"https://doi.org/10.24963/ijcai.2021/568","pdf_url":"https://www.ijcai.org/proceedings/2021/0568.pdf","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Thirtieth International Joint Conference on Artificial Intelligence","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2501665579","display_name":null,"funder_award_id":"1837779","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"},{"id":"https://openalex.org/G2905129647","display_name":null,"funder_award_id":"DP200100025","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G292854299","display_name":null,"funder_award_id":"1724392","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"},{"id":"https://openalex.org/G4484521401","display_name":"Personalised public transport","funder_award_id":"DP190100013","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"},{"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/G6332854689","display_name":null,"funder_award_id":"1935712","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"},{"id":"https://openalex.org/G7807879834","display_name":"Constraint-based Reasoning for Multi-agent Pathfinding","funder_award_id":"DP200100025","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"},{"id":"https://openalex.org/G8301136006","display_name":null,"funder_award_id":"1409987","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"},{"id":"https://openalex.org/G8670862917","display_name":"Development of a Modular, Scalable, and Extensible Model-Based Systems Engineering Advanced Manufacturing Curriculum","funder_award_id":"1935712","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"},{"id":"https://openalex.org/F4320320971","display_name":"Monash University","ror":"https://ror.org/02bfwt286"},{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3176604482.pdf","grobid_xml":"https://content.openalex.org/works/W3176604482.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2964622585","https://openalex.org/W2040437320","https://openalex.org/W3146026424","https://openalex.org/W3117635600","https://openalex.org/W2329705855","https://openalex.org/W2733700916","https://openalex.org/W2964147408","https://openalex.org/W2511562406","https://openalex.org/W2984492198","https://openalex.org/W2373609025","https://openalex.org/W2147018937","https://openalex.org/W3165273595","https://openalex.org/W2735337907","https://openalex.org/W2097152515","https://openalex.org/W2284737543","https://openalex.org/W2045505478","https://openalex.org/W2865715616","https://openalex.org/W2162502823","https://openalex.org/W3172861571","https://openalex.org/W2960146074"],"abstract_inverted_index":{"Multi-Agent":[0],"Path":[1],"Finding":[2],"(MAPF)":[3],"is":[4],"the":[5,40,66,84,94,130,137],"challenging":[6],"problem":[7],"of":[8,68,105,119,135],"computing":[9],"collision-free":[10],"paths":[11],"for":[12,16,36,87],"multiple":[13],"agents.":[14],"Algorithms":[15],"solving":[17],"MAPF":[18,81],"can":[19,32,47],"be":[20],"categorized":[21],"on":[22],"a":[23,61,117],"spectrum.":[24],"At":[25,39],"one":[26],"end":[27,42],"are":[28,43],"(bounded-sub)optimal":[29],"algorithms":[30,45,72,82],"that":[31,46,64,73,91],"find":[33,53,75],"high-quality":[34],"solutions":[35],"small":[37],"problems.":[38],"other":[41],"unbounded-suboptimal":[44],"solve":[48],"large":[49,88],"problems":[50],"but":[51],"usually":[52],"low-quality":[54],"solutions.":[55],"In":[56],"this":[57],"paper,":[58],"we":[59],"consider":[60],"third":[62],"approach":[63],"combines":[65],"best":[67],"both":[69],"worlds:":[70],"anytime":[71],"quickly":[74],"an":[76],"initial":[77,131],"solution":[78,95],"using":[79,107],"efficient":[80],"from":[83],"literature,":[85],"even":[86],"problems,":[89],"and":[90,122,133],"subsequently":[92],"improve":[93],"quality":[96],"to":[97,129],"near-optimal":[98],"as":[99],"time":[100],"progresses":[101],"by":[102],"replanning":[103],"subgroups":[104],"agents":[106],"Large":[108],"Neighborhood":[109],"Search.":[110],"We":[111],"compare":[112],"our":[113],"algorithm":[114],"MAPF-LNS":[115],"against":[116],"range":[118],"existing":[120],"work":[121],"report":[123],"significant":[124],"gains":[125],"in":[126],"scalability,":[127],"runtime":[128],"solution,":[132],"speed":[134],"improving":[136],"solution.":[138]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2021-07-05T00:00:00"}
