2025

[1]

EMOA*: A framework for search-based multi-objective path planning.

Zhongqiang Ren, Carlos Hernández, Maxim Likhachev, Ariel Felner, Sven Koenig, Oren Salzman, Sivakumar Rathinam, Howie Choset.

Artificial Intelligence, vol. 339, p. 104260, 2025.

@article{2024_AIJ_EMOA,
  title = {EMOA*: A framework for search-based multi-objective path planning},
  journal = {Artificial Intelligence},
  volume = {339},
  pages = {104260},
  year = {2025},
  issn = {0004-3702},
  doi = {https://doi.org/10.1016/j.artint.2024.104260},
  url = {https://rap-lab.github.io/documents/publications/2024_AIJ_EMOA.pdf},
  author = {Ren, Zhongqiang and Hernández, Carlos and Likhachev, Maxim and Felner, Ariel and Koenig, Sven and Salzman, Oren and Rathinam, Sivakumar and Choset, Howie},
  keywords = {Heuristic search, Multi-objective optimization, Path planning}
}

2024

[1]

A Bounded Sub-Optimal Approach for Multi-Agent Combinatorial Path Finding.

Zhongqiang Ren, Sivakumar Rathinam, Howie Choset.

IEEE Transactions on Automation Science and Engineering, pp. 1–16, 2024.

@article{2024_TASE_AKstar_CBSSAPX,
  author = {Ren, Zhongqiang and Rathinam, Sivakumar and Choset, Howie},
  journal = {IEEE Transactions on Automation Science and Engineering},
  title = {A Bounded Sub-Optimal Approach for Multi-Agent Combinatorial Path Finding},
  year = {2024},
  volume = {},
  number = {},
  pages = {1-16},
  keywords = {Approximation algorithms;Sequential analysis;Runtime;Collision avoidance;Planning;Partitioning algorithms;Traveling salesman problems;Polynomials;Routing;Mobile robots;Path planning;multi-robot systems;traveling salesman problems},
  doi = {10.1109/TASE.2024.3466183},
  url = {https://rap-lab.github.io/documents/publications/2024_TASE_AKstar_CBSSAPX.pdf}
}

[2]

Propagative Distance Optimization for Constrained Inverse Kinematics.

Yu Chen, Yilin Cai, Jinyun Xu, Zhongqiang Ren, Guanya Shi, Howie Choset.

Algorithmic Foundations of Robotics XVI, Cham, 2024.

@inproceedings{2024_WAFR_PDO_YuChen,
  author = {Chen, Yu and Cai, Yilin and Xu, Jinyun and Ren, Zhongqiang and Shi, Guanya and Choset, Howie},
  title = {Propagative Distance Optimization for Constrained Inverse Kinematics},
  booktitle = {Algorithmic Foundations of Robotics XVI},
  year = {2024},
  publisher = {Springer International Publishing},
  address = {Cham},
  url = {https://rap-lab.github.io/documents/publications/2024_WAFR_PDO_YuChen_cam.pdf}
}

[3]

A Complete Algorithm for a Moving Target Traveling Salesman Problem with Obstacles.

Anoop Bhat, Geordan Gutow, Bhaskar Vundurthy, Zhongqiang Ren, Sivakumar Rathinam, Howie Choset.

Algorithmic Foundations of Robotics XVI, Cham, 2024.

@inproceedings{2024_WAFR_MT-TSP-O_Anoop,
  author = {Bhat, Anoop and Gutow, Geordan and Vundurthy, Bhaskar and Ren, Zhongqiang and Rathinam, Sivakumar and Choset, Howie},
  title = {A Complete Algorithm for a Moving Target Traveling Salesman Problem with Obstacles},
  booktitle = {Algorithmic Foundations of Robotics XVI},
  year = {2024},
  publisher = {Springer International Publishing},
  address = {Cham},
  url = {https://rap-lab.github.io/documents/publications/2024_WAFR_MT-TSP-O_Anoop_cam.pdf}
}

[4]

iMTSP: Solving Min-Max Multiple Traveling Salesman Problem with Imperative Learning.

Yifan Guo, Zhongqiang Ren, Chen Wang.

2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.

@inproceedings{2024_IROS_iMTSP_Yifan,
  title = {iMTSP: Solving Min-Max Multiple Traveling Salesman Problem with Imperative Learning},
  author = {Guo, Yifan and Ren, Zhongqiang and Wang, Chen},
  booktitle = {2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2024},
  organization = {IEEE},
  url = {https://rap-lab.github.io/documents/publications/2024_IROS_iMTSP_Yifan_cam.pdf}
}

[5]

A Mixed-Integer Conic Program for the Moving-Target Traveling Salesman Problem Based on a Graph of Convex Sets.

Allen George Philip, Zhongqiang Ren, Sivakumar Rathinam, Howie Choset.

2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.

@inproceedings{2024_MTTSP_MICP_Allen,
  title = {A Mixed-Integer Conic Program for the Moving-Target Traveling Salesman Problem Based on a Graph of Convex Sets},
  author = {Philip, Allen George and Ren, Zhongqiang and Rathinam, Sivakumar and Choset, Howie},
  booktitle = {2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2024},
  organization = {IEEE},
  url = {https://rap-lab.github.io/documents/publications/2024_IROS_MTTSP_MICP_Allen_cam.pdf}
}

[6]

Multi-Agent Teamwise Cooperative Path Finding and Traffic Intersection Coordination.

Zhongqiang Ren, Yilin Cai, Hesheng Wang.

2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.

@inproceedings{2024_IROS_TCCBSt,
  title = {Multi-Agent Teamwise Cooperative Path Finding and Traffic Intersection Coordination},
  author = {Ren, Zhongqiang and Cai, Yilin and Wang, Hesheng},
  booktitle = {2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = {2024},
  organization = {IEEE},
  url = {https://rap-lab.github.io/documents/publications/2024_IROS_TCCBSt.pdf}
}

[7]

PWTO: A Heuristic Approach for Trajectory Optimization in Complex Terrains.

Yilin Cai, Zhongqiang Ren.

2024 ICAPS Workshop on Planning and Robotics (PlanRob), 2024.

@inproceedings{2024_PlanRob_PWTO_Yilin,
  title = {PWTO: A Heuristic Approach for Trajectory Optimization in Complex Terrains},
  author = {Cai, Yilin and Ren, Zhongqiang},
  booktitle = {2024 ICAPS Workshop on Planning and Robotics (PlanRob)},
  year = {2024},
  organization = {AAAI},
  url = {https://rap-lab.github.io/documents/publications/2024_PlanRob_PWTO_Yilin.pdf}
}

[8]

DMS*: Towards Minimizing Makespan for Multi-Agent Combinatorial Path Finding.

Zhongqiang Ren, Anushtup Nandy, Sivakumar Rathinam, Howie Choset.

IEEE Robotics and Automation Letters, vol. 9, no. 9, pp. 7987–7994, 2024.

@article{2024_RAL_DMS,
  author = {Ren, Zhongqiang and Nandy, Anushtup and Rathinam, Sivakumar and Choset, Howie},
  journal = {IEEE Robotics and Automation Letters},
  title = {DMS*: Towards Minimizing Makespan for Multi-Agent Combinatorial Path Finding},
  year = {2024},
  volume = {9},
  number = {9},
  pages = {7987-7994},
  keywords = {Costs;Sequential analysis;Planning;Traveling salesman problems;Collision avoidance;Runtime;Indexes;Path planning for multiple mobile robots or agents;motion and path planning;task and motion planning},
  doi = {10.1109/LRA.2024.3436333},
  url = {https://rap-lab.github.io/documents/publications/2024_RAL_DMS.pdf}
}

[9]

Heuristic Search for the Orienteering Problem with Time-Varying Reward.

Chao Cao, Jinyun Xu, Ji Zhang, Howie Choset, Zhongqiang Ren.

Proceedings of the International Symposium on Combinatorial Searchvol. 17, pp. 11–19, 2024.

@inproceedings{2024_SOCS_RMA_Cao,
  title = {Heuristic Search for the Orienteering Problem with Time-Varying Reward},
  author = {Cao, Chao and Xu, Jinyun and Zhang, Ji and Choset, Howie and Ren, Zhongqiang},
  booktitle = {Proceedings of the International Symposium on Combinatorial Search},
  volume = {17},
  pages = {11--19},
  year = {2024},
  doi = {10.1609/socs.v17i1.31537},
  url = {https://rap-lab.github.io/documents/publications/2024_SOCS_RMA.pdf}
}

2023

[1]

Solving Multi-Agent Target Assignment and Path Finding with a Single Constraint Tree.

Yimin Tang, Zhongqiang Ren, Jiaoyang Li, Katia Sycara.

2023 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), pp. 8–14, 2023.

@inproceedings{2023_MRS_ITACBS_Tang,
  title = {Solving Multi-Agent Target Assignment and Path Finding with a Single Constraint Tree},
  author = {Tang, Yimin and Ren, Zhongqiang and Li, Jiaoyang and Sycara, Katia},
  booktitle = {2023 International Symposium on Multi-Robot and Multi-Agent Systems (MRS)},
  pages = {8--14},
  year = {2023},
  organization = {IEEE},
  doi = {10.1109/MRS60187.2023.10416794},
  code = {https://github.com/TachikakaMin/ITA-CBS2}
}

[2]

CBSS: A New Approach for Multiagent Combinatorial Path Finding.

Zhongqiang Ren, Sivakumar Rathinam, Howie Choset.

IEEE Transactions on Robotics, vol. 39, no. 4, pp. 2669–2683, 2023.

@article{ren23cbssTRO,
  author = {Ren, Zhongqiang and Rathinam, Sivakumar and Choset, Howie},
  journal = {IEEE Transactions on Robotics},
  title = {{CBSS}: A New Approach for Multiagent Combinatorial Path Finding},
  year = {2023},
  volume = {39},
  number = {4},
  pages = {2669-2683},
  keywords = {Robots;Task analysis;Sequential analysis;Search problems;Collision avoidance;Planning;Costs;Multiagent path finding (MAPF);path planning for multiple mobile robots or agents;traveling salesman problem (TSP)},
  doi = {10.1109/TRO.2023.3266993},
  url = {https://rap-lab.github.io/documents/publications/ren23_CBSS_TRO.pdf},
  code = {https://github.com/rap-lab-org/public_pymcpf}
}

[3]

A Pareto-Optimal Local Optimization Framework for Multiobjective Ergodic Search.

Zhongqiang Ren, Akshaya Kesarimangalam Srinivasan, Bhaskar Vundurthy, Ian Abraham, Howie Choset.

IEEE Transactions on Robotics, vol. 39, no. 5, pp. 3452–3463, 2023.

@article{ren23moesTRO,
  author = {Ren, Zhongqiang and Srinivasan, Akshaya Kesarimangalam and Vundurthy, Bhaskar and Abraham, Ian and Choset, Howie},
  journal = {IEEE Transactions on Robotics},
  title = {A Pareto-Optimal Local Optimization Framework for Multiobjective Ergodic Search},
  year = {2023},
  volume = {39},
  number = {5},
  pages = {3452-3463},
  keywords = {Trajectory;Robots;Optimization;Measurement;Search problems;Task analysis;Visualization;Ergodic search;motion and path planning;optimization and optimal control},
  doi = {10.1109/TRO.2023.3284358},
  url = {https://rap-lab.github.io/documents/publications/ren23_MOES_TRO.pdf},
  code = {https://github.com/rap-lab-org/public_moes}
}

[4]

ERCA*: A New Approach for the Resource Constrained Shortest Path Problem.

Zhongqiang Ren, Zachary B. Rubinstein, Stephen F. Smith, Sivakumar Rathinam, Howie Choset.

IEEE Transactions on Intelligent Transportation Systems, vol. 24, no. 12, pp. 14994–15005, 2023.

@article{ren23erca,
  author = {Ren, Zhongqiang and Rubinstein, Zachary B. and Smith, Stephen F. and Rathinam, Sivakumar and Choset, Howie},
  journal = {IEEE Transactions on Intelligent Transportation Systems},
  title = {ERCA*: A New Approach for the Resource Constrained Shortest Path Problem},
  year = {2023},
  volume = {24},
  number = {12},
  pages = {14994-15005},
  keywords = {Costs;Shortest path problem;Runtime;Bidirectional control;Search problems;Heuristic algorithms;Approximation algorithms;Path planning;heuristic search;shortest path},
  doi = {10.1109/TITS.2023.3293039},
  url = {https://rap-lab.github.io/documents/publications/ren23_ERCA_TITS.pdf},
  code = {https://github.com/rap-lab-org/public_erca/}
}

[5]

Binary Branching Multi-Objective Conflict-Based Search for Multi-Agent Path Finding.

Zhongqiang Ren, Jiaoyang Li, Han Zhang, Sven Koenig, Sivakumar Rathinam, Howie Choset.

Proceedings of the International Conference on Automated Planning and Schedulingvol. 33, no. 1, pp. 361–369, 2023.

@inproceedings{ren23bbmocbs,
  title = {Binary Branching Multi-Objective Conflict-Based Search for Multi-Agent Path Finding},
  author = {Ren, Zhongqiang and Li, Jiaoyang and Zhang, Han and Koenig, Sven and Rathinam, Sivakumar and Choset, Howie},
  booktitle = {Proceedings of the International Conference on Automated Planning and Scheduling},
  year = {2023},
  month = jul,
  volume = {33},
  number = {1},
  pages = {361-369},
  doi = {10.1609/icaps.v33i1.27214},
  url = {https://rap-lab.github.io/documents/publications/ren23_BBMOCBS_ICAPS23.pdf},
  code = {https://github.com/rap-lab-org/public_bbmocbs}
}

[6]

Heuristic Search for Path Finding with Refuelling.

Anushtup Nandy, Zhongqiang Ren, Sivakumar Rathinam, Howie Choset.

arXiv preprint arXiv:2309.10796, 2023.

@article{nandy2023heuristic,
  title = {Heuristic Search for Path Finding with Refuelling},
  author = {Nandy, Anushtup and Ren, Zhongqiang and Rathinam, Sivakumar and Choset, Howie},
  journal = {arXiv preprint arXiv:2309.10796},
  year = {2023},
  url = {https://rap-lab.github.io/documents/publications/anushtup24refuel.pdf}
}

[7]

Representation granularity enables time-efficient autonomous exploration in large, complex worlds.

C. Cao, H. Zhu, Z. Ren, H. Choset, J. Zhang.

Science Robotics, vol. 8, no. 80, p. eadf0970, 2023.

@article{cao23explore,
  author = {Cao, C. and Zhu, H. and Ren, Z. and Choset, H. and Zhang, J.},
  title = {Representation granularity enables time-efficient autonomous exploration in large, complex worlds},
  journal = {Science Robotics},
  volume = {8},
  number = {80},
  pages = {eadf0970},
  year = {2023},
  doi = {10.1126/scirobotics.adf0970},
  url = {https://www.science.org/doi/abs/10.1126/scirobotics.adf0970},
  eprint = {https://www.science.org/doi/pdf/10.1126/scirobotics.adf0970}
}

[8]

PyPose: A Library for Robot Learning With Physics-Based Optimization.

Chen Wang, Dasong Gao, Kuan Xu, Junyi Geng, Yaoyu Hu, Yuheng Qiu, Bowen Li, Fan Yang, Brady Moon, Abhinav Pandey, Aryan, Jiahe Xu, Tianhao Wu, Haonan He, Daning Huang, Zhongqiang Ren, Shibo Zhao, Taimeng Fu, Pranay Reddy, Xiao Lin, Wenshan Wang, Jingnan Shi, Rajat Talak, Kun Cao, Yi Du, Han Wang, Huai Yu, Shanzhao Wang, Siyu Chen, Ananth Kashyap, Rohan Bandaru, Karthik Dantu, Jiajun Wu, Lihua Xie, Luca Carlone, Marco Hutter, Sebastian Scherer.

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), pp. 22024–22034, 2023.

@inproceedings{wang2023pypose_cvpr,
  author = {Wang, Chen and Gao, Dasong and Xu, Kuan and Geng, Junyi and Hu, Yaoyu and Qiu, Yuheng and Li, Bowen and Yang, Fan and Moon, Brady and Pandey, Abhinav and Aryan and Xu, Jiahe and Wu, Tianhao and He, Haonan and Huang, Daning and Ren, Zhongqiang and Zhao, Shibo and Fu, Taimeng and Reddy, Pranay and Lin, Xiao and Wang, Wenshan and Shi, Jingnan and Talak, Rajat and Cao, Kun and Du, Yi and Wang, Han and Yu, Huai and Wang, Shanzhao and Chen, Siyu and Kashyap, Ananth and Bandaru, Rohan and Dantu, Karthik and Wu, Jiajun and Xie, Lihua and Carlone, Luca and Hutter, Marco and Scherer, Sebastian},
  title = {PyPose: A Library for Robot Learning With Physics-Based Optimization},
  booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  month = jun,
  year = {2023},
  pages = {22024-22034},
  url = {https://rap-lab.github.io/documents/publications/wang23_pypose_cvpr.pdf}
}

[9]

Multi-Agent Multi-Objective Ergodic Search Using Branch and Bound.

Akshaya Kesarimangalam Srinivasan, Geordan Gutow, Zhongqiang Ren, Ian Abraham, Bhaskar Vundurthy, Howie Choset.

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 844–849, 2023.

@inproceedings{Akshaya2023mamoes,
  author = {Srinivasan, Akshaya Kesarimangalam and Gutow, Geordan and Ren, Zhongqiang and Abraham, Ian and Vundurthy, Bhaskar and Choset, Howie},
  booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  title = {Multi-Agent Multi-Objective Ergodic Search Using Branch and Bound},
  year = {2023},
  volume = {},
  number = {},
  pages = {844-849},
  keywords = {Runtime;Costs;Force;Search problems;Planning;Resource management;Task analysis},
  doi = {10.1109/IROS55552.2023.10341353},
  url = {https://rap-lab.github.io/documents/publications/2023_IROS_MAMOES_Akshaya.pdf}
}

[10]

MUI-TARE: Cooperative Multi-Agent Exploration With Unknown Initial Position.

Jingtian Yan, Xingqiao Lin, Zhongqiang Ren, Shiqi Zhao, Jieqiong Yu, Chao Cao, Peng Yin, Ji Zhang, Sebastian Scherer.

IEEE Robotics and Automation Letters, vol. 8, no. 7, pp. 4299–4306, 2023.

@article{yan23muitare,
  author = {Yan, Jingtian and Lin, Xingqiao and Ren, Zhongqiang and Zhao, Shiqi and Yu, Jieqiong and Cao, Chao and Yin, Peng and Zhang, Ji and Scherer, Sebastian},
  journal = {IEEE Robotics and Automation Letters},
  title = {MUI-TARE: Cooperative Multi-Agent Exploration With Unknown Initial Position},
  year = {2023},
  volume = {8},
  number = {7},
  pages = {4299-4306},
  doi = {10.1109/LRA.2023.3281262},
  url = {https://rap-lab.github.io/documents/publications/yan23_MUITARE_RAL.pdf}
}

[11]

Search Algorithms for Multi-Agent Teamwise Cooperative Path Finding.

Zhongqiang Ren, Chaoran Zhang, Sivakumar Rathinam, Howie Choset.

2023 IEEE International Conference on Robotics and Automation (ICRA), pp. 1407–1413, 2023.

@inproceedings{ren23matcpf,
  author = {Ren, Zhongqiang and Zhang, Chaoran and Rathinam, Sivakumar and Choset, Howie},
  booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)},
  title = {Search Algorithms for Multi-Agent Teamwise Cooperative Path Finding},
  year = {2023},
  volume = {},
  number = {},
  pages = {1407-1413},
  keywords = {Automation;Planning},
  doi = {10.1109/ICRA48891.2023.10160864},
  url = {https://rap-lab.github.io/documents/publications/ren23_TCMAPF_icra23.pdf}
}

2022

[1]

A Conflict-Based Search Framework for Multiobjective Multiagent Path Finding.

Zhongqiang Ren, Sivakumar Rathinam, Howie Choset.

IEEE Transactions on Automation Science and Engineering, vol. 20, no. 2, pp. 1262–1274, 2022.

@article{ren22mocbs_tase,
  author = {Ren, Zhongqiang and Rathinam, Sivakumar and Choset, Howie},
  journal = {IEEE Transactions on Automation Science and Engineering},
  title = {A Conflict-Based Search Framework for Multiobjective Multiagent Path Finding},
  year = {2022},
  volume = {20},
  number = {2},
  pages = {1262-1274},
  doi = {10.1109/TASE.2022.3183183},
  url = {https://rap-lab.github.io/documents/publications/ren22_mocbs_tase_final.pdf},
  code = {https://github.com/rap-lab-org/public_cppmomapf}
}

[2]

Multi-Objective Safe-Interval Path Planning With Dynamic Obstacles.

Zhongqiang Ren, Sivakumar Rathinam, Maxim Likhachev, Howie Choset.

IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 8154–8161, 2022.

@article{ren22mosipp,
  author = {Ren, Zhongqiang and Rathinam, Sivakumar and Likhachev, Maxim and Choset, Howie},
  journal = {IEEE Robotics and Automation Letters},
  title = {Multi-Objective Safe-Interval Path Planning With Dynamic Obstacles},
  year = {2022},
  volume = {7},
  number = {3},
  pages = {8154-8161},
  doi = {10.1109/LRA.2022.3187270},
  url = {https://rap-lab.github.io/documents/publications/ren22_mosipp_RAL_IROS22.pdf},
  code = {https://github.com/rap-lab-org/public_mosipp}
}

[3]

A Local Optimization Framework for Multi-Objective Ergodic Search.

Zhongqiang Ren, Akshaya Kesarimangalam Srinivasan, Howard Coffin, Ian Abraham, Howie Choset.

Proceedings of Robotics: Science and Systems, New York City, NY, USA, 2022.

@inproceedings{ren22moes,
  author = {Ren, Zhongqiang and Srinivasan, {Akshaya Kesarimangalam} and Coffin, Howard and Abraham, Ian and Choset, Howie},
  title = {{A Local Optimization Framework for Multi-Objective Ergodic Search}},
  booktitle = {Proceedings of Robotics: Science and Systems},
  year = {2022},
  address = {New York City, NY, USA},
  month = jun,
  doi = {10.15607/RSS.2022.XVIII.052},
  url = {https://rap-lab.github.io/documents/publications/ren22_moes_rss.pdf},
  code = {https://github.com/rap-lab-org/public_moes}
}

[4]

Conflict-Based Steiner Search for Multi-Agent Combinatorial Path Finding.

Zhongqiang Ren, Sivakumar Rathinam, Howie Choset.

Proceedings of Robotics: Science and Systems, New York City, NY, USA, 2022.

@inproceedings{ren22cbss,
  author = {Ren, Zhongqiang and Rathinam, Sivakumar and Choset, Howie},
  title = {{Conflict-Based Steiner Search for Multi-Agent Combinatorial Path Finding}},
  booktitle = {Proceedings of Robotics: Science and Systems},
  year = {2022},
  address = {New York City, NY, USA},
  month = jun,
  doi = {10.15607/RSS.2022.XVIII.058},
  url = {https://rap-lab.github.io/documents/publications/ren22_cbss_rss.pdf},
  code = {https://github.com/rap-lab-org/public_pymcpf}
}

[5]

A Lower Bounding Framework for Motion Planning Amid Dynamic Obstacles in 2D.

Zhongqiang Ren, Sivakumar Rathinam, Howie Choset.

Algorithmic Foundations of Robotics XV, Cham, pp. 540–556, 2022.

@inproceedings{ren22lbmp,
  author = {Ren, Zhongqiang and Rathinam, Sivakumar and Choset, Howie},
  title = {A Lower Bounding Framework for Motion Planning Amid Dynamic Obstacles in 2D},
  booktitle = {Algorithmic Foundations of Robotics XV},
  year = {2022},
  month = dec,
  vol = {25},
  publisher = {Springer International Publishing},
  address = {Cham},
  pages = {540--556},
  isbn = {978-3-031-21090-7},
  doi = {10.1007/978-3-031-21090-7_32},
  url = {https://rap-lab.github.io/documents/publications/ren22_lbmp_wafr.pdf}
}

[6]

Enhanced multi-objective A* using balanced binary search trees.

Zhongqiang Ren, Richard Zhan, Sivakumar Rathinam, Maxim Likhachev, Howie Choset.

Proceedings of the International Symposium on Combinatorial Searchvol. 15, no. 1, pp. 162–170, 2022.

@inproceedings{ren22emoa,
  title = {Enhanced multi-objective {A}* using balanced binary search trees},
  author = {Ren, Zhongqiang and Zhan, Richard and Rathinam, Sivakumar and Likhachev, Maxim and Choset, Howie},
  booktitle = {Proceedings of the International Symposium on Combinatorial Search},
  volume = {15},
  number = {1},
  pages = {162--170},
  year = {2022},
  doi = {https://doi.org/10.1609/socs.v15i1.21764},
  url = {https://rap-lab.github.io/documents/publications/ren22_emoa_socs.pdf},
  code = {https://github.com/rap-lab-org/public_emoa/}
}

[7]

Multi-Objective Path-Based D* Lite.

Zhongqiang Ren, Sivakumar Rathinam, Maxim Likhachev, Howie Choset.

IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 3318–3325, 2022.

@article{ren22mopbd,
  author = {Ren, Zhongqiang and Rathinam, Sivakumar and Likhachev, Maxim and Choset, Howie},
  journal = {IEEE Robotics and Automation Letters},
  title = {Multi-Objective Path-Based D* Lite},
  year = {2022},
  volume = {7},
  number = {2},
  pages = {3318-3325},
  doi = {10.1109/LRA.2022.3146918},
  url = {https://rap-lab.github.io/documents/publications/ren22_mopbd_RAL_ICRA22.pdf}
}

2021

[1]

Subdimensional Expansion for Multi-Objective Multi-Agent Path Finding.

Zhongqiang Ren, Sivakumar Rathinam, Howie Choset.

IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 7153–7160, 2021.

@article{ren21momstar,
  author = {Ren, Zhongqiang and Rathinam, Sivakumar and Choset, Howie},
  journal = {IEEE Robotics and Automation Letters},
  title = {Subdimensional Expansion for Multi-Objective Multi-Agent Path Finding},
  year = {2021},
  volume = {6},
  number = {4},
  pages = {7153-7160},
  doi = {10.1109/LRA.2021.3096744},
  url = {https://rap-lab.github.io/documents/publications/ren21-MOMstar_RAL_IROS.pdf},
  code = {https://github.com/rap-lab-org/public_cppmomapf}
}

[2]

Multi-objective conflict-based search for multi-agent path finding.

Zhongqiang Ren, Sivakumar Rathinam, Howie Choset.

2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 8786–8791, 2021.

@inproceedings{ren21mocbs,
  title = {Multi-objective conflict-based search for multi-agent path finding},
  author = {Ren, Zhongqiang and Rathinam, Sivakumar and Choset, Howie},
  booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
  pages = {8786--8791},
  year = {2021},
  organization = {IEEE},
  url = {https://rap-lab.github.io/documents/publications/ren21_mocbs_icra21.pdf},
  code = {https://github.com/rap-lab-org/public_cppmomapf}
}

[3]

MS*: A New Exact Algorithm for Multi-agent Simultaneous Multi-goal Sequencing and Path Finding.

Zhongqiang Ren, Sivakumar Rathinam, Howie Choset.

2021 IEEE International Conference on Robotics and Automation (ICRA), pp. 11560–11565, 2021.

@inproceedings{ren21ms,
  author = {Ren, Zhongqiang and Rathinam, Sivakumar and Choset, Howie},
  booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
  title = {MS*: A New Exact Algorithm for Multi-agent Simultaneous Multi-goal Sequencing and Path Finding},
  year = {2021},
  volume = {},
  number = {},
  pages = {11560-11565},
  keywords = {Sequential analysis;Portable computers;Surveillance;Conferences;Mobile agents;Games;Approximation algorithms},
  doi = {10.1109/ICRA48506.2021.9561779},
  url = {https://rap-lab.github.io/documents/publications/ren21-MSstar.pdf}
}

[4]

Subdimensional Expansion Using Attention-Based Learning For Multi-Agent Path Finding.

Lakshay Virmani, Zhongqiang Ren, Sivakumar Rathinam, Howie Choset.

arXiv preprint arXiv:2109.14695, 2021.

@article{virmani21lm,
  title = {Subdimensional Expansion Using Attention-Based Learning For Multi-Agent Path Finding},
  author = {Virmani, Lakshay and Ren, Zhongqiang and Rathinam, Sivakumar and Choset, Howie},
  journal = {arXiv preprint arXiv:2109.14695},
  year = {2021},
  url = {https://rap-lab.github.io/documents/publications/lakshay21_LMStar.pdf}
}

[5]

Multi-objective Conflict-based Search Using Safe-interval Path Planning.

Zhongqiang Ren, Sivakumar Rathinam, Howie Choset.

arXiv preprint arXiv:2108.00745, 2021.

@article{ren21mocbssipp,
  title = {Multi-objective Conflict-based Search Using Safe-interval Path Planning},
  author = {Ren, Zhongqiang and Rathinam, Sivakumar and Choset, Howie},
  journal = {arXiv preprint arXiv:2108.00745},
  year = {2021},
  url = {https://rap-lab.github.io/documents/publications/ren21_mocbssipp.pdf}
}

[6]

Loosely Synchronized Search for Multi-agent Path Finding with Asynchronous Actions.

Zhongqiang Ren, Sivakumar Rathinam, Howie Choset.

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 9714–9719, 2021.

@inproceedings{ren21lss,
  author = {Ren, Zhongqiang and Rathinam, Sivakumar and Choset, Howie},
  booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  title = {Loosely Synchronized Search for Multi-agent Path Finding with Asynchronous Actions},
  year = {2021},
  volume = {},
  number = {},
  pages = {9714-9719},
  keywords = {Merging;Swarm robotics;Search problems;Computational efficiency;Synchronization;Intelligent robots},
  doi = {10.1109/IROS51168.2021.9636683},
  url = {https://rap-lab.github.io/documents/publications/ren21_lss_iros.pdf}
}

2018

[1]

Geometric Motion Planning for Systems With Toroidal and Cylindrical Shape Spaces.

Chaohui Gong, Zhongqiang Ren, Julian Whitman, Jaskaran Grover, Baxi Chong, Howie Choset.

pp. p. V003T32A013, Sep-2018

@proceedings{gong18torus,
  author = {Gong, Chaohui and Ren, Zhongqiang and Whitman, Julian and Grover, Jaskaran and Chong, Baxi and Choset, Howie},
  title = {{Geometric Motion Planning for Systems With Toroidal and Cylindrical Shape Spaces}},
  volume = {Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control},
  booktitle = {Dynamic Systems and Control Conference},
  pages = {V003T32A013},
  year = {2018},
  month = sep,
  doi = {10.1115/DSCC2018-9144},
  eprint = {https://asmedigitalcollection.asme.org/DSCC/proceedings-pdf/DSCC2018/51913/V003T32A013/2377082/v003t32a013-dscc2018-9144.pdf},
  url = {https://rap-lab.github.io/documents/publications/gong18_Torus_DSCC.pdf}
}

2017

[1]

Deformed state lattice planning.

Zhongqiang Ren, Chaohui Gong, Howie Choset.

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6307–6312, 2017.

@inproceedings{ren17deformed,
  author = {Ren, Zhongqiang and Gong, Chaohui and Choset, Howie},
  booktitle = {2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  title = {Deformed state lattice planning},
  year = {2017},
  volume = {},
  number = {},
  pages = {6307-6312},
  keywords = {Lattices;Strain;Planning;Robots;Search problems;Manifolds;Automobiles},
  doi = {10.1109/IROS.2017.8206534},
  url = {https://rap-lab.github.io/documents/publications/ren17_DSLP_IROS.pdf}
}