{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,21]],"date-time":"2025-09-21T17:39:03Z","timestamp":1758476343377,"version":"3.28.0"},"reference-count":47,"publisher":"IEEE","license":[{"start":{"date-parts":[[2023,5,29]],"date-time":"2023-05-29T00:00:00Z","timestamp":1685318400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2023,5,29]],"date-time":"2023-05-29T00:00:00Z","timestamp":1685318400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2023,5,29]]},"DOI":"10.1109\/icra48891.2023.10161018","type":"proceedings-article","created":{"date-parts":[[2023,7,4]],"date-time":"2023-07-04T17:20:56Z","timestamp":1688491256000},"page":"3432-3439","source":"Crossref","is-referenced-by-count":5,"title":["Accelerating Multi-Agent Planning Using Graph Transformers with Bounded Suboptimality"],"prefix":"10.1109","author":[{"given":"Chenning","family":"Yu","sequence":"first","affiliation":[{"name":"University of California,Computer Science and Engineering Department,San Diego"}]},{"given":"Qingbiao","family":"Li","sequence":"additional","affiliation":[{"name":"University of Cam-bridge,Department of Computer Science and Technology"}]},{"given":"Sicun","family":"Gao","sequence":"additional","affiliation":[{"name":"University of California,Computer Science and Engineering Department,San Diego"}]},{"given":"Amanda","family":"Prorok","sequence":"additional","affiliation":[{"name":"University of Cam-bridge,Department of Computer Science and Technology"}]}],"member":"263","reference":[{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2903261"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.1982.4767270"},{"key":"ref12","article-title":"Learning node-selection strate-gies in bounded suboptimal conflict-based search for multi-agent path finding","author":"huang","year":"0","journal-title":"International Joint Conference on Autonomous Agents and Multiagent Systems"},{"key":"ref34","article-title":"Ctrms: Learning to construct cooperative timed roadmaps for multi -agent path planning in continuous spaces","author":"okumura","year":"2022","journal-title":"ArXiv Preprint"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1016\/j.cor.2022.105809"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/TSSC.1968.300136"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1609\/icaps.v30i1.6660"},{"key":"ref36","first-page":"789","article-title":"A: An efficient near admissible heuristic search algorithm","author":"ghallab","year":"1983","journal-title":"Proceedings of International Joint Conference on Artificial Intelligence Citeseer"},{"key":"ref31","article-title":"Learning-based motion planning in dynamic environments using gnns and temporal encoding","author":"zhang","year":"2022","journal-title":"CoRR vol abs\/2210 08408"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.24963\/ijcai.2017\/92"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v35i13.17341"},{"key":"ref33","first-page":"4274","article-title":"Reducing collision checking for sampling-based motion planning using graph neural networks","volume":"34","author":"yu","year":"2021","journal-title":"Advances in neural information processing systems"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341668"},{"journal-title":"Learning to search via retrospective imitation","year":"20","author":"song","key":"ref32"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206003"},{"key":"ref1","first-page":"33","article-title":"Optimization and coordinated autonomy in mobile fulfillment systems","author":"enright","year":"2011","journal-title":"AAAI Workshop on Automated Action Planning for Autonomous Mobile Robots"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.24963\/ijcai.2019\/63"},{"key":"ref39","first-page":"77","article-title":"Pointnet: Deep learning on point sets for 3d classification and segmentation","author":"qi","year":"0","journal-title":"2017 IEEE Conference on Computer Vision and Pattern Recognition CVPR 2017 Honolulu HI USA July 21–26 2017"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1609\/icaps.v28i1.13883"},{"key":"ref38","first-page":"1263","article-title":"Neural message passing for quantum chemistry","author":"gilmer","year":"2017","journal-title":"International Conference on Machine Learning"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v24i1.7564"},{"key":"ref18","article-title":"Partial-expansion a* with selective node generation","author":"feiner","year":"2012","journal-title":"Proceedings of the Twenty-Sixth AAAI Conference on Artificial Intelligence"},{"key":"ref24","article-title":"Multi-agent pathfinding with simultaneous execution of single-agent primitives","volume":"3","author":"sajid","year":"2012","journal-title":"Symposium on Combinatorial Search"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1137\/0213031"},{"key":"ref23","article-title":"Push and swap: Fast cooperative path-finding with completeness guarantees","author":"luna","year":"0","journal-title":"Twenty-Second International Joint Conference on Artificial Intelligence"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2929981"},{"key":"ref26","doi-asserted-by":"crossref","first-page":"885","DOI":"10.1109\/TRO.2005.851378","article-title":"Roadmap-based motion planning in dynamic environments","volume":"21","author":"van","year":"2005","journal-title":"IEEE Transactions on Robotics"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2015.2445780"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1007\/BFb0036075"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6095022"},{"key":"ref42","article-title":"Pure transformers are powerful graph learners","author":"kim","year":"20","journal-title":"ArXiv Preprint"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1145\/3503250"},{"key":"ref22","first-page":"1928","article-title":"Reciprocal velocity obstacles for real-time multi-agent navigation","author":"van","year":"2008","journal-title":"IEEE International Conference on Robotics and Automation"},{"key":"ref44","article-title":"An image is worth 16x16 words: Transformers for image recognition at scale","author":"dosovitskiy","year":"20","journal-title":"ArXiv Preprint"},{"key":"ref21","first-page":"430","article-title":"Prioritized motion plan-ning for multiple robots","author":"van","year":"2005","journal-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems"},{"journal-title":"BERT Pre-training of deep bidirectional transformers for language understanding","year":"20","author":"devlin","key":"ref43"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3026638"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3077863"},{"article-title":"Learning control admissibility models with graph neural networks for multi-agent navigation","year":"2022","author":"yu","key":"ref29"},{"key":"ref8","first-page":"961","article-title":"Suboptimal variants of the conflict-based search algorithm for the multi-agent pathfinding problem","author":"barer","year":"2014","journal-title":"European Conference on Artificial Intelligence"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631084"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v35i14.17466"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-29363-9_3"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2006.1678135"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2715406"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.artint.2014.11.006"},{"key":"ref40","first-page":"5998","article-title":"Attention is all you need","author":"vaswani","year":"2017","journal-title":"Advances in neural information processing systems"}],"event":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","start":{"date-parts":[[2023,5,29]]},"location":"London, United Kingdom","end":{"date-parts":[[2023,6,2]]}},"container-title":["2023 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/10160211\/10160212\/10161018.pdf?arnumber=10161018","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,7,24]],"date-time":"2023-07-24T17:31:06Z","timestamp":1690219866000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10161018\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,5,29]]},"references-count":47,"URL":"https:\/\/doi.org\/10.1109\/icra48891.2023.10161018","relation":{},"subject":[],"published":{"date-parts":[[2023,5,29]]}}}