論文・実装一覧

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原論文（52 本）

P0 — 基礎と MVP（9 本）

A Formal Basis for the Heuristic Determination of Minimum Cost Paths
Peter E. Hart, Nils J. Nilsson, Bertram Raphael (1968) A Formal Basis for the Heuristic Determination of Minimum Cost Paths. IEEE Transactions on Systems Science and Cybernetics, vol. 4, no. 2, pp. 100-107
astar-1968DOI: 10.1109/TSSC.1968.300136外部リンクのみPDF 非同梱
A note on two problems in connexion with graphs
Edsger W. Dijkstra (1959) A note on two problems in connexion with graphs. Numerische Mathematik, vol. 1, pp. 269-271
dijkstra-1959DOI: 10.1007/BF01386390外部リンクのみPDF 非同梱
Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks
Roni Stern, Nathan R. Sturtevant, Ariel Felner ほか (2019) Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks. Symposium on Combinatorial Search (SoCS 2019)
mapf-benchmarks-2019DOI: 10.1609/socs.v10i1.18510外部リンクのみPDF 非同梱
Cooperative Pathfinding
David Silver (2005) Cooperative Pathfinding. AIIDE 2005
cooperative-pathfinding-2005DOI: 10.1609/aiide.v1i1.18726外部リンクのみPDF 非同梱
Conflict-based search for optimal multi-agent pathfinding
Guni Sharon, Roni Stern, Ariel Felner ほか (2015) Conflict-based search for optimal multi-agent pathfinding. Artificial Intelligence, vol. 219, pp. 40-66
cbs-aij-2015DOI: 10.1016/j.artint.2014.11.006外部リンクのみPDF 非同梱
Conflict-Based Search For Optimal Multi-Agent Path Finding
Guni Sharon, Roni Stern, Ariel Felner ほか (2012) Conflict-Based Search For Optimal Multi-Agent Path Finding. AAAI 2012, pp. 563-569
cbs-aaai-2012DOI: 10.1609/aaai.v26i1.8140外部リンクのみPDF 非同梱
Searching with Consistent Prioritization for Multi-Agent Path Finding
Hang Ma, Daniel Harabor, Peter J. Stuckey ほか (2019) Searching with Consistent Prioritization for Multi-Agent Path Finding. AAAI 2019
pbs-aaai-2019外部リンクのみPDF 非同梱
Finding Optimal Solutions to Cooperative Pathfinding Problems
Trevor Standley (2010) Finding Optimal Solutions to Cooperative Pathfinding Problems. AAAI 2010, pp. 173-178
standley-od-id-2010DOI: 10.1609/aaai.v24i1.7564外部リンクのみPDF 非同梱
SIPP: Safe Interval Path Planning for Dynamic Environments
Mike Phillips, Maxim Likhachev (2011) SIPP: Safe Interval Path Planning for Dynamic Environments. IEEE International Conference on Robotics and Automation (ICRA 2011)
sipp-icra-2011DOI: 10.1109/icra.2011.5980306再配布可否未確認PDF 非同梱

P1 — 主要 MAPF 手法（20 本）

Meta-Agent Conflict-Based Search For Optimal Multi-Agent Path Finding
Guni Sharon, Roni Stern, Ariel Felner ほか (2012) Meta-Agent Conflict-Based Search For Optimal Multi-Agent Path Finding. SoCS 2012
ma-cbs-socs-2012DOI: 10.1609/socs.v3i1.18244外部リンクのみPDF 非同梱
Suboptimal Variants of the Conflict-Based Search Algorithm for the Multi-Agent Pathfinding Problem
Max Barer, Guni Sharon, Roni Stern ほか (2014) Suboptimal Variants of the Conflict-Based Search Algorithm for the Multi-Agent Pathfinding Problem. SoCS 2014, pp. 19-27
bcbs-ecbs-socs-2014DOI: 10.1609/socs.v5i1.18315外部リンクのみPDF 非同梱
ICBS: Improved Conflict-Based Search Algorithm for Multi-Agent Pathfinding
Eli Boyarski, Ariel Felner, Roni Stern ほか (2015) ICBS: Improved Conflict-Based Search Algorithm for Multi-Agent Pathfinding. IJCAI 2015, pp. 740-746
icbs-ijcai-2015外部リンクのみPDF 非同梱
EECBS: A Bounded-Suboptimal Search for Multi-Agent Path Finding
Jiaoyang Li, Wheeler Ruml, Sven Koenig (2021) EECBS: A Bounded-Suboptimal Search for Multi-Agent Path Finding. AAAI 2021
eecbs-aaai-2021外部リンクのみPDF 非同梱
Multi-Agent Pathfinding with Continuous Time
Anton Andreychuk, Konstantin Yakovlev, Dor Atzmon ほか (2019) Multi-Agent Pathfinding with Continuous Time. IJCAI 2019, pp. 39-45
ccbs-ijcai-2019DOI: 10.24963/ijcai.2019/6外部リンクのみPDF 非同梱
Adding Heuristics to Conflict-Based Search for Multi-Agent Path Finding
Ariel Felner, Jiaoyang Li, Eli Boyarski ほか (2018) Adding Heuristics to Conflict-Based Search for Multi-Agent Path Finding. ICAPS 2018, pp. 83-87
cbsh-icaps-2018DOI: 10.1609/icaps.v28i1.13883外部リンクのみPDF 非同梱
Improved Heuristics for Multi-Agent Path Finding with Conflict-Based Search
Jiaoyang Li, Eli Boyarski, Ariel Felner ほか (2019) Improved Heuristics for Multi-Agent Path Finding with Conflict-Based Search. IJCAI 2019, pp. 442-449
cbsh2-ijcai-2019DOI: 10.24963/ijcai.2019/63外部リンクのみPDF 非同梱
Pairwise Symmetry Reasoning for Multi-Agent Path Finding Search
Jiaoyang Li, Daniel Harabor, Peter J. Stuckey ほか (2021) Pairwise Symmetry Reasoning for Multi-Agent Path Finding Search. Artificial Intelligence, vol. 301, art. 103574
cbsh2-rtc-aij-2021DOI: 10.1016/j.artint.2021.103574外部リンクのみPDF 非同梱
Disjoint Splitting for Multi-Agent Path Finding with Conflict-Based Search
Jiaoyang Li, Daniel Harabor, Peter J. Stuckey ほか (2019) Disjoint Splitting for Multi-Agent Path Finding with Conflict-Based Search. ICAPS 2019, pp. 279-283
disjoint-splitting-icaps-2019DOI: 10.1609/icaps.v29i1.3487外部リンクのみPDF 非同梱
Priority Inheritance with Backtracking for Iterative Multi-agent Path Finding
Keisuke Okumura, Manao Machida, Xavier Defago ほか (2022) Priority Inheritance with Backtracking for Iterative Multi-agent Path Finding. Artificial Intelligence, vol. 310, art. 103752
pibt-aij-2022DOI: 10.1016/j.artint.2022.103752再配布可
winPIBT: Extended Prioritized Algorithm for Iterative Multi-agent Path Finding
Keisuke Okumura, Yasumasa Tamura, Xavier Defago (2019) winPIBT: Extended Prioritized Algorithm for Iterative Multi-agent Path Finding. arXiv preprint (IJCAI-19 Workshop on Multi-Agent Path Finding)
winpibt-2019外部リンクのみPDF 非同梱
LaCAM: Search-Based Algorithm for Quick Multi-Agent Pathfinding
Keisuke Okumura (2023) LaCAM: Search-Based Algorithm for Quick Multi-Agent Pathfinding. AAAI 2023, pp. 11655-11662
lacam-aaai-2023DOI: 10.1609/aaai.v37i10.26377外部リンクのみPDF 非同梱
Improving LaCAM for Scalable Eventually Optimal Multi-Agent Pathfinding
Keisuke Okumura (2023) Improving LaCAM for Scalable Eventually Optimal Multi-Agent Pathfinding. IJCAI 2023, pp. 243-251
lacam-star-ijcai-2023DOI: 10.24963/ijcai.2023/28外部リンクのみPDF 非同梱
Engineering LaCAM*: Towards Real-Time, Large-Scale, and Near-Optimal Multi-Agent Pathfinding
Keisuke Okumura (2024) Engineering LaCAM*: Towards Real-Time, Large-Scale, and Near-Optimal Multi-Agent Pathfinding. AAMAS 2024, pp. 1501-1509
lacam3-aamas-2024DOI: 10.65109/yqid4918再配布可
Push and Swap: Fast Cooperative Path-Finding with Completeness Guarantees
Ryan Luna, Kostas E. Bekris (2011) Push and Swap: Fast Cooperative Path-Finding with Completeness Guarantees. IJCAI 2011, pp. 294-300
push-and-swap-ijcai-2011外部リンクのみPDF 非同梱
Push and Rotate: Cooperative Multi-Agent Path Planning
Boris de Wilde, Adriaan W. ter Mors, Cees Witteveen (2013) Push and Rotate: Cooperative Multi-Agent Path Planning. AAMAS 2013, pp. 87-94
push-and-rotate-aamas-2013DOI: 10.65109/hepf5355外部リンクのみPDF 非同梱
The Increasing Cost Tree Search for Optimal Multi-agent Pathfinding
Guni Sharon, Roni Stern, Meir Goldenberg ほか (2011) The Increasing Cost Tree Search for Optimal Multi-agent Pathfinding. IJCAI 2011, pp. 662-667
icts-ijcai-2011外部リンクのみPDF 非同梱
Subdimensional expansion for multirobot path planning
Glenn Wagner, Howie Choset (2015) Subdimensional expansion for multirobot path planning. Artificial Intelligence, vol. 219, pp. 1-24
mstar-aij-2015DOI: 10.1016/j.artint.2014.11.001再配布可否未確認PDF 非同梱
Anytime Multi-Agent Path Finding via Large Neighborhood Search
Jiaoyang Li, Zhe Chen, Daniel Harabor ほか (2021) Anytime Multi-Agent Path Finding via Large Neighborhood Search. IJCAI 2021, pp. 4127-4135
mapf-lns-ijcai-2021DOI: 10.24963/ijcai.2021/568外部リンクのみPDF 非同梱
MAPF-LNS2: Fast Repairing for Multi-Agent Path Finding via Large Neighborhood Search
Jiaoyang Li, Zhe Chen, Daniel Harabor ほか (2022) MAPF-LNS2: Fast Repairing for Multi-Agent Path Finding via Large Neighborhood Search. AAAI 2022, pp. 10256-10265
mapf-lns2-aaai-2022DOI: 10.1609/aaai.v36i9.21266外部リンクのみPDF 非同梱

P2 — MAPD・Lifelong（11 本）

Lifelong Multi-Agent Path Finding in Large-Scale Warehouses
Jiaoyang Li, Andrew Tinka, Scott Kiesel ほか (2021) Lifelong Multi-Agent Path Finding in Large-Scale Warehouses. AAAI 2021, pp. 11272-11281
rhcr-aaai-2021DOI: 10.1609/aaai.v35i13.17344外部リンクのみPDF 非同梱
Lifelong Multi-Agent Path Finding for Online Pickup and Delivery Tasks
Hang Ma, Jiaoyang Li, T. K. Satish Kumar ほか (2017) Lifelong Multi-Agent Path Finding for Online Pickup and Delivery Tasks. AAMAS 2017, pp. 837-845
mapd-tp-tpts-central-2017DOI: 10.65109/tnmo6004外部リンクのみPDF 非同梱
Task and Path Planning for Multi-Agent Pickup and Delivery
Minghua Liu, Hang Ma, Jiaoyang Li ほか (2019) Task and Path Planning for Multi-Agent Pickup and Delivery. AAMAS 2019, pp. 1152-1160
ta-prioritized-hybrid-aamas-2019外部リンクのみPDF 非同梱
A Multi-Label A* Algorithm for Multi-Agent Pathfinding
Florian Grenouilleau, Willem-Jan van Hoeve, John N. Hooker (2019) A Multi-Label A* Algorithm for Multi-Agent Pathfinding. ICAPS 2019, pp. 181-185
mla-star-icaps-2019DOI: 10.1609/icaps.v29i1.3474外部リンクのみPDF 非同梱
Integrated Task Assignment and Path Planning for Capacitated Multi-Agent Pickup and Delivery
Zhe Chen, Javier Alonso-Mora, Xiaoshan Bai ほか (2021) Integrated Task Assignment and Path Planning for Capacitated Multi-Agent Pickup and Delivery. IEEE Robotics and Automation Letters, vol. 6, no. 3
rmca-ral-2021DOI: 10.1109/lra.2021.3074883再配布可
Multi-Goal Multi-Agent Pickup and Delivery
Qinghong Xu, Jiaoyang Li, Sven Koenig ほか (2022) Multi-Goal Multi-Agent Pickup and Delivery. IEEE/RSJ IROS 2022
mg-mapd-iros-2022DOI: 10.1109/iros47612.2022.9981785外部リンクのみPDF 非同梱
Lifelong Path Planning with Kinematic Constraints for Multi-Agent Pickup and Delivery
Hang Ma, Wolfgang Honig, T. K. Satish Kumar ほか (2019) Lifelong Path Planning with Kinematic Constraints for Multi-Agent Pickup and Delivery. AAAI 2019, pp. 7651-7658
sippwrt-aaai-2019外部リンクのみPDF 非同梱
Optimal Target Assignment and Path Finding for Teams of Agents
Hang Ma, Sven Koenig (2016) Optimal Target Assignment and Path Finding for Teams of Agents. AAMAS 2016, pp. 1144-1152
cbm-tapf-aamas-2016DOI: 10.65109/goac4514外部リンクのみPDF 非同梱
Conflict-Based Search with Optimal Task Assignment
Wolfgang Honig, Scott Kiesel, Andrew Tinka ほか (2018) Conflict-Based Search with Optimal Task Assignment. AAMAS 2018
cbs-ta-aamas-2018DOI: 10.65109/iwjs4760外部リンクのみPDF 非同梱
The Hungarian method for the assignment problem
Harold W. Kuhn (1955) The Hungarian method for the assignment problem. Naval Research Logistics Quarterly, vol. 2, pp. 83-97
hungarian-method-1955DOI: 10.1002/nav.3800020109外部リンクのみPDF 非同梱
College Admissions and the Stability of Marriage
David Gale, Lloyd S. Shapley (1962) College Admissions and the Stability of Marriage. The American Mathematical Monthly, vol. 69, no. 1, pp. 9-15
gale-shapley-1962DOI: 10.1080/00029890.1962.11989827外部リンクのみPDF 非同梱

P3 — 発展手法・学習ベース（12 本）

Problem Compilation for Multi-Agent Path Finding: a Survey
Pavel Surynek (2022) Problem Compilation for Multi-Agent Path Finding: a Survey. IJCAI 2022 (Survey Track)
compilation-survey-2022DOI: 10.24963/ijcai.2022/783外部リンクのみPDF 非同梱
Branch-and-Cut-and-Price for Multi-Agent Pathfinding
Edward Lam, Pierre Le Bodic, Daniel Harabor ほか (2019) Branch-and-Cut-and-Price for Multi-Agent Pathfinding. IJCAI 2019, pp. 1289-1296
bcp-ijcai-2019DOI: 10.24963/ijcai.2019/179外部リンクのみPDF 非同梱
Efficient SAT Approach to Multi-Agent Path Finding Under the Sum of Costs Objective
Pavel Surynek, Ariel Felner, Roni Stern ほか (2016) Efficient SAT Approach to Multi-Agent Path Finding Under the Sum of Costs Objective. ECAI 2016 (Frontiers in AI and Applications, vol. 285), pp. 810-818
mdd-sat-ecai-2016DOI: 10.3233/978-1-61499-672-9-810再配布可
Unifying Search-based and Compilation-based Approaches to Multi-agent Path Finding through Satisfiability Modulo Theories
Pavel Surynek (2019) Unifying Search-based and Compilation-based Approaches to Multi-agent Path Finding through Satisfiability Modulo Theories. IJCAI 2019, pp. 1177-1183
smt-cbs-ijcai-2019DOI: 10.24963/ijcai.2019/164外部リンクのみPDF 非同梱
Anytime Multi-Agent Path Finding via Machine Learning-Guided Large Neighborhood Search
Taoan Huang, Jiaoyang Li, Sven Koenig ほか (2022) Anytime Multi-Agent Path Finding via Machine Learning-Guided Large Neighborhood Search. AAAI 2022, pp. 9368-9376
ml-lns-aaai-2022DOI: 10.1609/aaai.v36i9.21168外部リンクのみPDF 非同梱
Reevaluation of Large Neighborhood Search for MAPF: Findings and Opportunities
Jiaqi Tan, Yudong Luo, Jiaoyang Li ほか (2025) Reevaluation of Large Neighborhood Search for MAPF: Findings and Opportunities. SoCS 2025, pp. 212-220
lns-reevaluation-socs-2025DOI: 10.1609/socs.v18i1.35996外部リンクのみPDF 非同梱
Solving Multi-Agent Target Assignment and Path Finding with a Single Constraint Tree
Yimin Tang, Zhongqiang Ren, Jiaoyang Li ほか (2023) Solving Multi-Agent Target Assignment and Path Finding with a Single Constraint Tree. IEEE International Symposium on Multi-Robot and Multi-Agent Systems (MRS 2023)
ita-cbs-mrs-2023DOI: 10.1109/mrs60187.2023.10416794再配布可
ITA-ECBS: A Bounded-Suboptimal Algorithm for Combined Target-Assignment and Path-Finding Problem
Yimin Tang, Sven Koenig, Jiaoyang Li (2024) ITA-ECBS: A Bounded-Suboptimal Algorithm for Combined Target-Assignment and Path-Finding Problem. SoCS 2024, pp. 134-142
ita-ecbs-socs-2024DOI: 10.1609/socs.v17i1.31551外部リンクのみPDF 非同梱
The auction algorithm: A distributed relaxation method for the assignment problem
Dimitri P. Bertsekas (1988) The auction algorithm: A distributed relaxation method for the assignment problem. Annals of Operations Research, vol. 14, pp. 105-123
auction-algorithm-1988DOI: 10.1007/BF02186476再配布可否未確認PDF 非同梱
Multi-agent Path Planning and Network Flow
Jingjin Yu, Steven M. LaValle (2012) Multi-agent Path Planning and Network Flow. Workshop on the Algorithmic Foundations of Robotics (WAFR 2012)
network-flow-mapf-2012外部リンクのみPDF 非同梱
PRIMAL: Pathfinding via Reinforcement and Imitation Multi-Agent Learning
Guillaume Sartoretti, Justin Kerr, Yunfei Shi ほか (2019) PRIMAL: Pathfinding via Reinforcement and Imitation Multi-Agent Learning. IEEE Robotics and Automation Letters, vol. 4, no. 3
primal-ral-2019DOI: 10.1109/lra.2019.2903261外部リンクのみPDF 非同梱
PRIMAL2: Pathfinding via Reinforcement and Imitation Multi-Agent Learning - Lifelong
Mehul Damani, Zhiyao Luo, Emerson Wenzel ほか (2021) PRIMAL2: Pathfinding via Reinforcement and Imitation Multi-Agent Learning - Lifelong. IEEE Robotics and Automation Letters, vol. 6, no. 2
primal2-ral-2021DOI: 10.1109/lra.2021.3062803外部リンクのみPDF 非同梱

参照実装（24 件）

挙動の確認とテストケース作成のために読んでいる第三者リポジトリです。コードをこのサイトへ転記してよいのは 10 件だけで、残り 14 件は読むだけです。

リポジトリ	関係	ライセンス	転記
whoenig/libMultiRobotPlanning	author-maintained	MIT	可
Jiaoyang-Li/PBS	author-maintained	NOASSERTION	不可
Jiaoyang-Li/EECBS	author-maintained	NOASSERTION	不可
Jiaoyang-Li/RHCR	author-maintained	NOASSERTION	不可
Jiaoyang-Li/MAPF-LNS	author-maintained	NOASSERTION	不可
Jiaoyang-Li/MAPF-LNS2	author-maintained	NOASSERTION	不可
Jiaoyang-Li/CBSH2	author-maintained	NOASSERTION	不可
Jiaoyang-Li/CBSH2-RTC	author-maintained	NOASSERTION	不可
Kei18/pibt2	official	MIT	可
Kei18/pypibt	official	MIT	可
Kei18/lacam0	official	MIT	可
Kei18/lacam2	official	MIT	可
Kei18/lacam3	official	MIT	可
Kei18/pylacam	official	MIT	可
PathPlanning/Push-and-Rotate--CBS--PrioritizedPlanning	research-reference	不明	不可
PathPlanning/Continuous-CBS	official	MIT	可
rap-lab-org/public_cppmomapf	research-reference	不明	不可
gloriyo/MAPF-ICBS	third-party	不明	不可
gsartoretti/PRIMAL	official	MIT	不可
marmotlab/PRIMAL2	official	MIT	不可
ChristinaTan0704/mapf-lns-unified	official	不明	不可
Kei18/mapf-visualizer	author-maintained	MIT	可
joonyeol-sim/awesome-mapf	third-party	不明	不可
MovingAILab/hog2	research-reference	MIT	可

ライセンスは GitHub の自動判定ではなく、clone して実ファイルを読んで判定しています。自動判定が MIT でも、実体が非営利限定の独自ライセンスだった例があります。