Local Guidance for Configuration-Based Multi-Agent Pathfinding.

Keisuke Okumura 0001 奥村圭祐 Tokyo Institute of Technology, School of Computing, Japan National Institute of Advanced Industrial Science and Technology, Japan University of Cambridge, UK https://kei18.github.io/ https://www.linkedin.com/in/kei18 https://twitter.com/_kei18 https://github.com/Kei18 https://orcid.org/0000-0002-9491-7367 Keisuke Okumura Keisuke Okumura 0002 Japan Atomic Energy Agency, Iwaki, Japan Tomoki Arita Keisuke Okumura 0001 Local Guidance for Configuration-Based Multi-Agent Pathfinding. 29296-29304 2026 AAAI https://doi.org/10.1609/aaai.v40i35.40169 conf/aaai/2026 db/conf/aaai/aaai2026.html#AritaO26 Rishabh Jain Keisuke Okumura 0001 Michael Amir Amanda Prorok Graph Attention-Guided Search for Dense Multi-Agent Pathfinding. 29504-29512 2026 AAAI https://doi.org/10.1609/aaai.v40i35.40192 conf/aaai/2026 db/conf/aaai/aaai2026.html#JainOAP26

Rishabh Jain Keisuke Okumura 0001 Michael Amir Pietro Lio Amanda Prorok Pairwise is Not Enough: Hypergraph Neural Networks for Multi-Agent Pathfinding. 2026 February abs/2602.06733 CoRR https://doi.org/10.48550/arXiv.2602.06733 db/journals/corr/corr2602.html#abs-2602-06733 streams/journals/corr

Yu Kumagai Keisuke Okumura 0001 Alternating Target-Path Planning for Scalable Multi-Agent Coordination. 2026 May abs/2605.07744 CoRR https://doi.org/10.48550/arXiv.2605.07744 db/journals/corr/corr2605.html#abs-2605-07744 streams/journals/corr

Takahiro Suzuki 0002 Yuma Tamura Keisuke Okumura 0001 Distance-Constrained Unlabeled Multi-Agent Pathfinding. 2026 May abs/2605.11503 CoRR https://doi.org/10.48550/arXiv.2605.11503 db/journals/corr/corr2605.html#abs-2605-11503 streams/journals/corr

Takuro Kato Keisuke Okumura 0001 Conveyor Parcel Routing with Order-Contiguous Arrivals. 2026 May abs/2605.13035 CoRR https://doi.org/10.48550/arXiv.2605.13035 db/journals/corr/corr2605.html#abs-2605-13035 streams/journals/corr

Hiroki Nagai Keisuke Okumura 0001 From Gridworlds to Warehouses: Adapting Lightweight One-shot Multi-Agent Pathfinding for AGVs. 2026 May abs/2605.15799 CoRR https://doi.org/10.48550/arXiv.2605.15799 db/journals/corr/corr2605.html#abs-2605-15799 streams/journals/corr

Tomoki Arita Keisuke Okumura 0001 Lifelong LaCAM with Local Guidance for Lifelong MAPF. 2026 May abs/2605.16855 CoRR https://doi.org/10.48550/arXiv.2605.16855 db/journals/corr/corr2605.html#abs-2605-16855 streams/journals/corr

Shota Yamamoto Ryusei Matsumoto Yoko Sasaki Keisuke Okumura 0001 100-Mouse System: Scalable Multi-Robot Testbed with State Management User Interface. 1545-1556 2025 37 J. Robotics Mechatronics 6 https://doi.org/10.20965/jrm.2025.p1545 db/journals/jrm/jrm37.html#YamamotoMSO25 streams/journals/jrm

Takuro Kato Keisuke Okumura 0001 Yoko Sasaki Naoya Yokomachi Congestion Mitigation Path Planning for Large-Scale Multi-Agent Navigation in Dense Environments. 9742-9749 2025 October 10 IEEE Robotics Autom. Lett. 10 https://doi.org/10.1109/LRA.2025.3597871 db/journals/ral/ral10.html#KatoOSY25 streams/journals/ral

Yuhao Zhang Keisuke Okumura 0001 Heedo Woo Ajay Shankar Amanda Prorok D4orm: Multi-Robot Trajectories with Dynamics-aware Diffusion Denoised Deformations. 14118-14123 2025 IROS https://doi.org/10.1109/IROS60139.2025.11246029 conf/iros/2025 db/conf/iros/iros2025.html#ZhangOWSP25 streams/conf/iros

Yuhao Zhang Keisuke Okumura 0001 Heedo Woo Ajay Shankar Amanda Prorok D4orm: Multi-Robot Trajectories with Dynamics-aware Diffusion Denoised Deformations. 2025 March abs/2503.12204 CoRR https://doi.org/10.48550/arXiv.2503.12204 db/journals/corr/corr2503.html#abs-2503-12204 streams/journals/corr

Keisuke Okumura 0001 Hiroki Nagai Lightweight and Effective Preference Construction in PIBT for Large-Scale Multi-Agent Pathfinding. 2025 May abs/2505.12623 CoRR https://doi.org/10.48550/arXiv.2505.12623 db/journals/corr/corr2505.html#abs-2505-12623 streams/journals/corr

Ajay Shankar Keisuke Okumura 0001 Amanda Prorok LF: Online Multi-Robot Path Planning Meets Optimal Trajectory Control. 2025 July abs/2507.11464 CoRR https://doi.org/10.48550/arXiv.2507.11464 db/journals/corr/corr2507.html#abs-2507-11464 streams/journals/corr

Michael Amir Guang Yang 0018 Zhan Gao Keisuke Okumura 0001 Heedo Woo Amanda Prorok ReCoDe: Reinforcement Learning-based Dynamic Constraint Design for Multi-Agent Coordination. 2025 July abs/2507.19151 CoRR https://doi.org/10.48550/arXiv.2507.19151 db/journals/corr/corr2507.html#abs-2507-19151 streams/journals/corr

Takuro Kato Keisuke Okumura 0001 Yoko Sasaki Naoya Yokomachi Congestion Mitigation Path Planning for Large-Scale Multi-Agent Navigation in Dense Environments. 2025 August abs/2508.05253 CoRR https://doi.org/10.48550/arXiv.2508.05253 db/journals/corr/corr2508.html#abs-2508-05253 streams/journals/corr

Rishabh Jain Keisuke Okumura 0001 Michael Amir Amanda Prorok Graph Attention-Guided Search for Dense Multi-Agent Pathfinding. 2025 October abs/2510.17382 CoRR https://doi.org/10.48550/arXiv.2510.17382 db/journals/corr/corr2510.html#abs-2510-17382 streams/journals/corr

Tomoki Arita Keisuke Okumura 0001 Local Guidance for Configuration-Based Multi-Agent Pathfinding. 2025 October abs/2510.19072 CoRR https://doi.org/10.48550/arXiv.2510.19072 db/journals/corr/corr2510.html#abs-2510-19072 streams/journals/corr

Takahiro Suzuki Keisuke Okumura 0001 Polynomial-time Configuration Generator for Connected Unlabeled Multi-Agent Pathfinding. 2025 October abs/2510.19567 CoRR https://doi.org/10.48550/arXiv.2510.19567 db/journals/corr/corr2510.html#abs-2510-19567 streams/journals/corr

Akmaral Moldagalieva Keisuke Okumura 0001 Amanda Prorok Wolfgang Hönig db-LaCAM: Fast and Scalable Multi-Robot Kinodynamic Motion Planning with Discontinuity-Bounded Search and Lightweight MAPF. 2025 December abs/2512.06796 CoRR https://doi.org/10.48550/arXiv.2512.06796 db/journals/corr/corr2512.html#abs-2512-06796 streams/journals/corr

Jean-Marc Alkazzi Keisuke Okumura 0001 A Comprehensive Review on Leveraging Machine Learning for Multi-Agent Path Finding. 57390-57409 2024 12 IEEE Access https://doi.org/10.1109/ACCESS.2024.3392305 db/journals/access/access12.html#AlkazziO24

Keisuke Okumura 0001 Engineering LaCAM*: Towards Real-time, Large-scale, and Near-optimal Multi-agent Pathfinding. 1501-1509 2024 AAMAS https://dl.acm.org/doi/10.5555/3635637.3663010 conf/atal/2024 db/conf/atal/aamas2024.html#000124

Keisuke Okumura 0001 Pathfinding with Lazy Successor Generation. 2024 abs/2408.15443 CoRR https://doi.org/10.48550/arXiv.2408.15443 db/journals/corr/corr2408.html#abs-2408-15443 streams/journals/corr

Keisuke Okumura 0001 Xavier Défago Solving simultaneous target assignment and path planning efficiently with time-independent execution. 103946 2023 August 321 Artif. Intell. https://doi.org/10.1016/j.artint.2023.103946 db/journals/ai/ai321.html#OkumuraD23

Keisuke Okumura 0001 François Bonnet 0001 Yasumasa Tamura Xavier Défago Offline Time-Independent Multiagent Path Planning. 2720-2737 2023 August 39 IEEE Trans. Robotics 4 https://doi.org/10.1109/TRO.2023.3258690 db/journals/trob/trob39.html#OkumuraBTD23

Keisuke Okumura 0001 Sébastien Tixeuil Fault-Tolerant Offline Multi-Agent Path Planning. 11647-11654 2023 AAAI https://doi.org/10.1609/aaai.v37i10.26376 conf/aaai/2023 db/conf/aaai/aaai2023.html#0001T23 Keisuke Okumura 0001 LaCAM: Search-Based Algorithm for Quick Multi-Agent Pathfinding. 11655-11662 2023 AAAI https://doi.org/10.1609/aaai.v37i10.26377 conf/aaai/2023 db/conf/aaai/aaai2023.html#000123 Keisuke Okumura 0001 Improving LaCAM for Scalable Eventually Optimal Multi-Agent Pathfinding. 243-251 2023 IJCAI https://doi.org/10.24963/ijcai.2023/28 conf/ijcai/2023 db/conf/ijcai/ijcai2023.html#000323 Keisuke Okumura 0001 Xavier Défago Quick Multi-Robot Motion Planning by Combining Sampling and Search. 252-261 2023 IJCAI https://doi.org/10.24963/ijcai.2023/29 conf/ijcai/2023 db/conf/ijcai/ijcai2023.html#0003D23

Keisuke Okumura 0001 Improving LaCAM for Scalable Eventually Optimal Multi-Agent Pathfinding. 2023 abs/2305.03632 CoRR https://doi.org/10.48550/arXiv.2305.03632 db/journals/corr/corr2305.html#abs-2305-03632

Keisuke Okumura 0001 Engineering LaCAM<sup>*</sup>: Towards Real-Time, Large-Scale, and Near-Optimal Multi-Agent Pathfinding. 2023 abs/2308.04292 CoRR https://doi.org/10.48550/arXiv.2308.04292 db/journals/corr/corr2308.html#abs-2308-04292

Keisuke Okumura 0001 Manao Machida Xavier Défago Yasumasa Tamura Priority inheritance with backtracking for iterative multi-agent path finding. 103752 2022 310 Artif. Intell. https://doi.org/10.1016/j.artint.2022.103752 db/journals/ai/ai310.html#OkumuraMDT22

Keisuke Okumura 0001 Xavier Défago Solving Simultaneous Target Assignment and Path Planning Efficiently with Time-Independent Execution. 270-278 2022 ICAPS https://ojs.aaai.org/index.php/ICAPS/article/view/19810 conf/aips/2022 db/conf/aips/icaps2022.html#0001D22 Keisuke Okumura 0001 Ryo Yonetani Mai Nishimura Asako Kanezaki CTRMs: Learning to Construct Cooperative Timed Roadmaps for Multi-agent Path Planning in Continuous Spaces. 972-981 2022 AAMAS https://www.ifaamas.org/Proceedings/aamas2022/pdfs/p972.pdf https://dl.acm.org/doi/10.5555/3535850.3535959 conf/atal/2022 db/conf/atal/aamas2022.html#0001YNK22 Keisuke Okumura 0001 François Bonnet 0001 Yasumasa Tamura Xavier Défago Offline Time-Independent Multi-Agent Path Planning. 4649-4656 2022 IJCAI https://doi.org/10.24963/ijcai.2022/645 conf/ijcai/2022 db/conf/ijcai/ijcai2022.html#00010TD22

Keisuke Okumura 0001 Ryo Yonetani Mai Nishimura Asako Kanezaki CTRMs: Learning to Construct Cooperative Timed Roadmaps for Multi-agent Path Planning in Continuous Spaces. 2022 abs/2201.09467 CoRR https://arxiv.org/abs/2201.09467 db/journals/corr/corr2201.html#abs-2201-09467

Keisuke Okumura 0001 Xavier Défago Quick Multi-Robot Motion Planning by Combining Sampling and Search. 2022 abs/2203.00315 CoRR https://doi.org/10.48550/arXiv.2203.00315 db/journals/corr/corr2203.html#abs-2203-00315

Keisuke Okumura 0001 LaCAM: Search-Based Algorithm for Quick Multi-Agent Pathfinding. 2022 abs/2211.13432 CoRR https://doi.org/10.48550/arXiv.2211.13432 db/journals/corr/corr2211.html#abs-2211-13432

Keisuke Okumura 0001 Sébastien Tixeuil Fault-Tolerant Offline Multi-Agent Path Planning. 2022 abs/2211.13908 CoRR https://doi.org/10.48550/arXiv.2211.13908 db/journals/corr/corr2211.html#abs-2211-13908

Keisuke Okumura 0001 Yasumasa Tamura Xavier Défago Time-Independent Planning for Multiple Moving Agents. 11299-11307 2021 AAAI https://doi.org/10.1609/aaai.v35i13.17347 conf/aaai/2021 db/conf/aaai/aaai2021.html#OkumuraTD21 Shota Kameyama Keisuke Okumura 0001 Yasumasa Tamura Xavier Défago Active Modular Environment for Robot Navigation. 8636-8642 2021 ICRA https://doi.org/10.1109/ICRA48506.2021.9561111 conf/icra/2021 db/conf/icra/icra2021.html#KameyamaOTD21 Keisuke Okumura 0001 Yasumasa Tamura Xavier Défago Iterative Refinement for Real-Time Multi-Robot Path Planning. 9690-9697 2021 IROS https://doi.org/10.1109/IROS51168.2021.9636071 conf/iros/2021 db/conf/iros/iros2021.html#OkumuraTD21 Mai Hirata Manabu Tsukada Keisuke Okumura 0001 Yasumasa Tamura Hideya Ochiai Xavier Défago Roadside-Assisted Cooperative Planning using Future Path Sharing for Autonomous Driving. 1-7 2021 VTC Fall https://doi.org/10.1109/VTC2021-Fall52928.2021.9625324 conf/vtc/2021f db/conf/vtc/vtc2021f.html#HirataTOTOD21

Keisuke Okumura 0001 Yasumasa Tamura Xavier Défago Iterative Refinement for Real-Time Multi-Robot Path Planning. 2021 abs/2102.12331 CoRR https://arxiv.org/abs/2102.12331 db/journals/corr/corr2102.html#abs-2102-12331

Shota Kameyama Keisuke Okumura 0001 Yasumasa Tamura Xavier Défago Active Modular Environment for Robot Navigation. 2021 abs/2102.12748 CoRR https://arxiv.org/abs/2102.12748 db/journals/corr/corr2102.html#abs-2102-12748

Keisuke Okumura 0001 François Bonnet 0001 Yasumasa Tamura Xavier Défago Offline Time-Independent Multi-Agent Path Planning. 2021 abs/2105.07132 CoRR https://arxiv.org/abs/2105.07132 db/journals/corr/corr2105.html#abs-2105-07132

Mai Hirata Manabu Tsukada Keisuke Okumura 0001 Yasumasa Tamura Hideya Ochiai Xavier Défago Roadside-assisted Cooperative Planning using Future Path Sharing for Autonomous Driving. 2021 abs/2108.04629 CoRR https://arxiv.org/abs/2108.04629 db/journals/corr/corr2108.html#abs-2108-04629

Keisuke Okumura 0001 Xavier Défago Solving Simultaneous Target Assignment and Path Planning Efficiently with Time-Independent Execution. 2021 abs/2109.04264 CoRR https://arxiv.org/abs/2109.04264 db/journals/corr/corr2109.html#abs-2109-04264

Keisuke Okumura 0001 Hiroki Ora Yoshihiro Miyake Investigating the Hand Ownership Illusion With Two Views Merged in. 49 2020 7 Frontiers Robotics AI https://doi.org/10.3389/frobt.2020.00049 db/journals/firai/firai7.html#OkumuraOM20

Keisuke Okumura 0001 Yasumasa Tamura Xavier Défago Time-Independent Planning for Multiple Moving Agents. 2020 abs/2005.13187 CoRR https://arxiv.org/abs/2005.13187 db/journals/corr/corr2005.html#abs-2005-13187

Keisuke Okumura 0001 Manao Machida Xavier Défago Yasumasa Tamura Priority Inheritance with Backtracking for Iterative Multi-agent Path Finding. 2019 IJCAI https://doi.org/10.24963/ijcai.2019/76 conf/ijcai/2019 db/conf/ijcai/ijcai2019.html#OkumuraMDT19 535-542

Keisuke Okumura 0001 Manao Machida Xavier Défago Yasumasa Tamura Priority Inheritance with Backtracking for Iterative Multi-agent Path Finding. 2019 abs/1901.11282 CoRR http://arxiv.org/abs/1901.11282 db/journals/corr/corr1901.html#abs-1901-11282

Keisuke Okumura 0001 Yasumasa Tamura Xavier Défago winPIBT: Expanded Prioritized Algorithm for Iterative Multi-agent Path Finding. 2019 abs/1905.10149 CoRR http://arxiv.org/abs/1905.10149 db/journals/corr/corr1905.html#abs-1905-10149

Keisuke Okumura 0001 Yasumasa Tamura Xavier Défago Amoeba Exploration: Coordinated Exploration with Distributed Robots. 191-195 2018 iCAST https://doi.org/10.1109/ICAwST.2018.8517225 conf/icawst/2018 db/conf/icawst/icawst2018.html#OkumuraTD18 Jean-Marc Alkazzi Michael Amir Tomoki Arita François Bonnet 0001 Xavier Défago Zhan Gao Mai Hirata Wolfgang Hönig Rishabh Jain Shota Kameyama Asako Kanezaki Takuro Kato Yu Kumagai Pietro LiòPietro Lio Manao Machida Ryusei Matsumoto Yoshihiro Miyake Akmaral Moldagalieva Hiroki Nagai Mai Nishimura Hideya Ochiai Hiroki Ora Amanda Prorok Yoko Sasaki Ajay Shankar Takahiro Suzuki Takahiro Suzuki 0002 Yasumasa Tamura Yuma Tamura Sébastien Tixeuil Manabu Tsukada Heedo Woo Shota Yamamoto Guang Yang 0018 Naoya Yokomachi Ryo Yonetani Yuhao Zhang