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- Y. Zheng, H. Ma, S. Koenig, E. Kline and S. Kumar. Priority-Based Search for the Virtual Network Embedding Problem. In Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 2023.
- B. Li and H. Ma. Double-Deck Multi-Agent Pickup and Delivery: Multi-Robot Rearrangement in Large-Scale Warehouses. IEEE Robotics and Automation Letters, 8, (6), 3701-3708, 2023.
- X. Zhong, J. Li, S. Koenig and H. Ma. Optimal and Bounded-Suboptimal Multi-Goal Task Assignment and Path Finding. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2022.
- Q. Xu, J. Li, S. Koenig and H. Ma. Multi-Goal Multi-Agent Pickup and Delivery. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), 9964-9971, 2022.
- H. Ma. Intelligent Planning for Large-Scale Multi-Agent Systems. AI Magazine, 43, (4), 376-382, 2022.
- H. Ma. Graph-Based Multi-Robot Path Finding and Planning. Current Robotics Reports, 3, (3), 77-84, 2022.
- 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.
- J. Li, Z. Chen, Y. Zheng, S.-H. Chan, D. Harabor, P. Stuckey, H. Ma and S. Koenig. Scalable Rail Planning and Replanning: Winning the 2020 Flatland Challenge. In Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 477-485, 2021.
- H. Zhang, N. Tiruviluamala, S. Koenig and S. Kumar. Temporal Reasoning with Kinodynamic Networks. In Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 415-425, 2021.
- Z. Ma, Y. Luo and H. Ma. Distributed Heuristic Multi-Agent Path Finding with Communication. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2021',
PAGES.
- H. Ma. A Competitive Analysis of Online Multi-Agent Path Finding. In Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 234-242, 2021.
- H. Ma. Target Assignment and Path Planning for Navigation Tasks with Teams of Agents. PhD thesis, Department of Computer Science, University of Southern California, Los Angeles (California), 2020.
- J. Li, G. Gange, D. Harabor, P. Stuckey, H. Ma and S. Koenig. New Techniques for Pairwise Symmetry Breaking in Multi-Agent Path Finding. In Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), (in print), 2020.
- J. Li, K. Sun, H. Ma, A. Felner, S. Kumar and S. Koenig. Moving Agents in Formation in Congested Environments. In Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), (in print), 2020.
- J. Li, A. Felner, E. Boyarski, H. Ma and S. Koenig. Improved Heuristics for Multi-Agent Path Finding with Conflict-Based Search. In Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), (in print), 2019.
- R. Stern, N. Sturtevant, A. Felner, S. Koenig, H. Ma, T. Walker, J. Li, D. Atzmon, L. Cohen, S. Kumar, E. Boyarski and R. Bartak. Multi-Agent Pathfinding: Definitions, Variants, and Benchmarks [Position Paper]. In Proceedings of the Symposium on Combinatorial Search (SoCS), (in print), 2019.
- H. Ma, D. Harabor, P. Stuckey, J. Li and S. Koenig. Searching with Consistent Prioritization for Multi-Agent Path Finding. In Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), (in print), 2019.
- H. Ma, W. Hoenig, S. Kumar, N. Ayanian and S. Koenig. Lifelong Path Planning with Kinematic Constraints for Multi-Agent Pickup and Delivery. In Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), (in print), 2019.
- J. Li, P. Surynek, A. Felner, H. Ma, S. Kumar and S. Koenig. Multi-Agent Path Finding for Large Agents. In Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), (in print), 2019.
- J. Li, D. Harabor, P. Stuckey, H. Ma and S. Koenig. Symmetry-Breaking Constraints for Grid-Based Multi-Agent Path Finding. In Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), (in print), 2019.
- M. Liu, H. Ma, J. Li and S. Koenig. Task and Path Planning for Multi-Agent Pickup and Delivery. In Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), (in print), 2019.
- J. Wang, J. Li, H. Ma, S. Koenig and S. Kumar. A New Constraint Satisfaction Perspective on Multi-Agent Path Finding: Preliminary Results. In Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), (in print), 2019.
- J. Li, D. Harabor, P. Stuckey, A. Felner, H. Ma and S. Koenig. Disjoint Splitting for Multi-Agent Path Finding with Conflict-Based Search. In Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), (in print), 2019.
- H. Ma, G. Wagner, A. Felner, J. Li, S. Kumar and S. Koenig. Multi-Agent Path Finding with Deadlines. In Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), 417-423, 2018.
- L. Cohen, M. Greco, H. Ma, C. Hernandez, A. Felner, S. Kumar and S. Koenig. Anytime Focal Search with Applications. In Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), 1434-1441, 2018.
- 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. In Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 83-87, 2018.
- H. Ma, G. Wagner, A. Felner, J. Li, S. Kumar and S. Koenig. Multi-Agent Path Finding with Deadlines: Preliminary Results. In Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2004-2006, 2018.
- 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.
- H. Ma, S. Kumar and S. Koenig. Multi-Agent Path Finding with Delay Probabilities. In Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 3605-3612, 2017.
- H. Ma, J. Li, S. Kumar and S. Koenig. Lifelong Multi-Agent Path Finding for Online Pickup and Delivery Tasks. In Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 837-845, 2017.
- H. Ma and S. Koenig. AI Buzzwords Explained: Multi-Agent Path Finding (MAPF). AI Matters, 3, (3), 15-19, 2017.
- H. Ma, C. Tovey, G. Sharon, S. Kumar and S. Koenig. Multi-Agent Path Finding with Payload Transfers and the Package-Exchange Robot-Routing Problem. In Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 3166-3173, 2016.
- H. Ma and S. Koenig. Optimal Target Assignment and Path Finding for Teams of Agents. In Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 1144-1152, 2016.
- W. Hoenig, S. Kumar, L. Cohen, H. Ma, H. Xu, N. Ayanian and S. Koenig. Multi-Agent Path Finding with Kinematic Constraints. In Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 477-485, 2016. Best ICAPS Paper Award (Robotics Track).
- W. Hoenig, S. Kumar, H. Ma, S. Koenig and N. Ayanian. Formation Change for Robot Groups in Occluded Environments. In Proceedings of the International Conference on Intelligent Robots and Systems (IROS), 4836-4842, 2016.
- H. Ma, S. Koenig, N. Ayanian, L. Cohen, W. Hoenig, S. Kumar, T. Uras, H. Xu, C. Tovey and G. Sharon. Overview: Generalizations of Multi-Agent Path Finding to Real-World Scenarios. In Proceedings of the IJCAI-16 Workshop on Multi-Agent Path Finding, 2016.