Publications

You can also find my articles on my Google Scholar profile.

2026

2025

2024

2026

Dynamic Agent Grouping ECBS: Scaling Windowed Multi-Agent Path Finding with Completeness Guarantees.
Tiannan Zhang, Rishi Veerapaneni, Shao-Hung Chan, Jiaoyang Li, and Maxim Likhachev.
AAAI Conference on Artificial Intelligence (AAAI), pages 29911–29920, 2026.
[bibtex] [code] [pdf] [publisher]

@inproceedings{ZhangAAAI26,
  author    = {Tiannan Zhang and Rishi Veerapaneni and Shao-Hung Chan and Jiaoyang Li and Maxim Likhachev},
  title     = {Dynamic Agent Grouping ECBS: Scaling Windowed Multi-Agent Path Finding with Completeness Guarantees},
  booktitle = {Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)},
  pages     = {29911--29920},
  year      = {2026}
}

Truncated Counterfactual Learning for Anytime Multi-Agent Path Finding.
Thomy Phan, Shao-Hung Chan, and Sven Koenig.
AAAI Conference on Artificial Intelligence (AAAI), pages 29633–29641, 2026.
[bibtex] [code] [pdf] [publisher]

@inproceedings{PhanAAAI26,
  author    = {Thomy Phan and Shao-Hung Chan and Sven Koenig},
  title     = {Truncated Counterfactual Learning for Anytime Multi-Agent Path Finding},
  booktitle = {Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)},
  pages     = {29633--29641},
  year      = {2026}
}

2025

Operation Parallelism in Large Neighborhood Search for Anytime Multi-Agent Path Finding.
Shao-Hung Chan, Zhe Chen, Dian-Lun Lin, Yue Zhang, Daniel Harabor, Sven Koenig, Tsung-Wei Huang, and Thomy Phan.
Best Paper Award Finalist of IEEE MRS 2025
IEEE International Symposium on Multi-Robot and Multi-Agent Systems (MRS), pages 1–7, 2025.
[bibtex] [pdf] [publisher]

@inproceedings{ChanMRS25,
  author    = {Shao-Hung Chan and Zhe Chen and Dian-Lun Lin and Yue Zhang and Daniel Harabor and Sven Koenig and Tsung-Wei Huang and Thomy Phan},
  title     = {Operation Parallelism in Large Neighborhood Search for Anytime Multi-Agent Path Finding},
  booktitle = {2025 IEEE International Symposium on Multi-Robot and Multi-Agent Systems (MRS)},
  pages     = {1--7},
  year      = {2025}
}

New Mechanisms in Flex Distribution for Bounded Suboptimal Multi-Agent Path Finding.
Shao-Hung Chan, Thomy Phan, Jiaoyang Li, and Sven Koenig.
International Symposium on Combinatorial Search (SoCS), pages 47–55, 2025.
[bibtex] [code] [pdf] [publisher]

@inproceedings{ChanSOCS2025,
  author    = {Shao-Hung Chan and Thomy Phan and Jiaoyang Li and Sven Koenig},
  title     = {New Mechanisms in Flex Distribution for Bounded Suboptimal Multi-Agent Path Finding},
  booktitle = {Proceedings of the International Symposium on Combinatorial Search (SoCS)},
  pages     = {47--55},
  year      = {2025}
}

Counterfactual Online Learning for Open-Loop Monte-Carlo Planning.
Thomy Phan, Shao-Hung Chan, and Sven Koenig.
AAAI Conference on Artificial Intelligence (AAAI), pages 26651–26658, 2025.
[bibtex] [code] [pdf] [publisher]

@inproceedings{Phan2AAAI25,
  author    = {Thomy Phan and Shao-Hung Chan and Sven Koenig},
  title     = {Counterfactual Online Learning for Open-Loop Monte-Carlo Planning},
  booktitle = {Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)},
  pages     = {26651--26658},
  year      = {2025}
}

Anytime Multi-Agent Path Finding with an Adaptive Delay-Based Heuristic.
Thomy Phan, Benran Zhang, Shao-Hung Chan, and Sven Koenig.
AAAI Conference on Artificial Intelligence (AAAI), pages 23286–23294, 2025.
[bibtex] [code] [pdf] [publisher]

@inproceedings{Phan1AAAI25,
  author    = {Thomy Phan and Benran Zhang and Shao-Hung Chan and Sven Koenig},
  title     = {Anytime Multi-Agent Path Finding with an Adaptive Delay-Based Heuristic},
  booktitle = {Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)},
  pages     = {23286--23294},
  year      = {2025}
}

2024

Anytime Multi-Agent Path Finding using Operation Parallelism in Large Neighborhood Search.
Shao-Hung Chan, Zhe Chen, Dian-Lun Lin, Yue Zhang, Daniel Harabor, Sven Koenig, Tsung-Wei Huang, and Thomy Phan.
International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS), (in print), 2024.
[bibtex] [pdf]

@inproceedings{ChanAAMAS24,
  author    = {Shao-Hung Chan and Zhe Chen and Dian-Lun Lin and Yue Zhang and Daniel Harabor and Sven Koenig and Tsung-Wei Huang and Thomy Phan},
  title     = {Anytime Multi-Agent Path Finding using Operation Parallelism in Large Neighborhood Search},
  booktitle = {Extended Abstracts of the International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS)},
  year      = {2024}
}

The League of Robot Runners: Competition Goals, Designs, and Implementation.
Best System Demonstration Award Honorable Mention of ICAPS 2024
Shao-Hung Chan, Zhe Chen, Teng Guo, Han Zhang, Yue Zhang, Daniel Harabor, Sven Koenig, Cathy Wu, and Jingjin Yu.
ICAPS 2024 System’s Demonstration Track, 2024.
[bibtex] [website] [pdf] [publisher] [video]

@inproceedings{ChanICAPS24,
  author    = {Shao-Hung Chan and Zhe Chen and Teng Guo and Han Zhang and Yue Zhang and Daniel Harabor and Sven Koenig and Cathy Wu and Jingjin Yu},
  title     = {The League of Robot Runners: Competition Goals, Designs, and Implementation},
  booktitle = {Proceedings of the ICAPS 2024 System's Demonstration Track},
  year      = {2024}
}

Theoretical Study on Multi-objective Heuristic Search.
Shawn Skyler, Shahaf Shperberg, Dor Atzmon, Ariel Felner, Oren Salzman, Shao-Hung Chan, Han Zhang, Sven Koenig, William Yeoh, and Carlos Hernandez.
International Joint Conference on Artificial Intelligence (IJCAI), pages 7021–7028, 2024.
A short version appeared at the International Symposium on Combinatorial Search (SoCS), pages 183-184, 2023.
[bibtex] [pdf] [publisher]

@inproceedings{SkylerIJCAI24,
  author    = {Shawn Skyler and Shahaf Shperberg and Dor Atzmon and Ariel Felner and Oren Salzman and Shao-Hung Chan and Han Zhang and Sven Koenig and William Yeoh and Carlos Hernandez},
  title     = {Theoretical Study on Multi-objective Heuristic Search},
  booktitle = {Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI)},
  pages     = {7021--7028},
  year      = {2024}
}

2023

Greedy Priority-Based Search for Suboptimal Multi-Agent Path Finding.
Shao-Hung Chan, Roni Stern, Ariel Felner, and Sven Koenig.
International Symposium on Combinatorial Search (SoCS), pages 11–19, 2023.
[bibtex] [code] [pdf] [publisher]

@inproceedings{ChanSoCS23,
  author    = {Shao-Hung Chan and Roni Stern and Ariel Felner and Sven Koenig},
  title     = {Greedy Priority-Based Search for Suboptimal Multi-Agent Path Finding},
  booktitle = {Proceedings of the International Symposium on Combinatorial Search (SoCS)},
  pages     = {11--19},
  year      = {2023}
}

Multi-Robot Geometric Task-and-Motion Planning for Collaborative Manipulation Tasks.
Hejia Zhang, Shao-Hung Chan, Jie Zhong, Jiaoyang Li, Peter Kolapo, Sven Koenig, Zach Agioutantis, Steven Schafrik, and Stefanos Nikolaidis.
Autonomous Robots, volume 47, pages 1537-1558, 2023.
[bibtex] [pdf] [publisher]

@article{ZhangAR23,
  author    = {Hejia Zhang and Shao-Hung Chan and Jie Zhong and Jiaoyang Li and Peter Kolapo and Sven Koenig and Zach Agioutantis and Steven Schafrik and Stefanos Nikolaidis.},
  title     = {Multi-robot geometric task-and-motion planning for collaborative manipulation tasks},
  journal   = {Autonomous Robots},
  year      = {2023},
  volume    = {47},
  pages     = {1537--1558},
  doi       = {10.1007/s10514-023-10148-y},
}

Heuristic-Search Approaches for the Multi-Objective Shortest-Path Problem: Progress and Research Opportunities.
Oren Salzman, Ariel Felner, Carlos Hernandez, Han Zhang, Shao-Hung Chan, and Sven Koenig.
International Joint Conference on Artificial Intelligence (IJCAI), pages 6759-6768, 2023.
[bibtex] [pdf] [publisher]

@inproceedings{SalzmanIJCAI23,
  author    = {Oren Salzman and Ariel Felner and Carlos Hernandez and Han Zhang and Shao-Hung Chan and Sven Koenig},
  title     = {Heuristic-Search Approaches for the Multi-Objective Shortest-Path Problem: Progress and Research Opportunities},
  booktitle = {Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI)},
  pages     = {6759--6768},
  year      = {2023}
}

Multi-objective Search via Lazy and Efficient Dominance Checks.
Carlos Hernández, William Yeoh, Jorge A. Baier, Ariel Felner, Oren Salzman, Han Zhang, Shao-Hung Chan, and Sven Koenig.
International Joint Conference on Artificial Intelligence (IJCAI), pages 7223-7230, 2023.
[bibtex] [pdf] [publisher]

@inproceedings{HernandezIJCAI23,
  author    = {Carlos Hernández and William Yeoh and Jorge A. Baier and Ariel Felner and Oren Salzman and Han Zhang and Shao-Hung Chan and Sven Koenig},
  title     = {Multi-objective Search via Lazy and Efficient Dominance Checks},
  booktitle = {Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI)},
  pages     = {7223--7230},
  year      = {2023},
  doi       = {10.24963/ijcai.2023/850},
  url       = {https://doi.org/10.24963/ijcai.2023/850}
}

2022

Flex Distribution for Bounded-Suboptimal Multi-Agent Path Finding.
Shao-Hung Chan, Jiaoyang Li, Graeme Gange, Daniel Harabor, Peter J. Stuckey, and Sven Koenig.
AAAI Conference on Artificial Intelligence (AAAI), pages 9313-9322, 2022.
A short version appeared at the International Symposium on Combinatorial Search (SoCS), pages 159-161, 2021.
[bibtex] [code] [pdf] [publisher]
```
@inproceedings{ChanAAAI22,
  author    = {Shao-Hung Chan and Jiaoyang Li and Graeme Gange and Daniel Harabor and Peter J. Stuckey and Sven Koenig},
  title     = {Flex Distribution for Bounded-Suboptimal Multi-Agent Path Finding},
  booktitle = {Proceedings of the AAAI Conference on Artificial Intelligence (AAAI)},
  pages     = {9313--9322},
  year      = {2022}
}
```

On Merging Agents in Multi-Agent Pathfinding Algorithms.
Best Student Paper Award of SoCS 2022
Eli Boyarski, Shao-Hung Chan, Dor Atzmon, Ariel Felner, and Sven Koenig.
International Symposium on Combinatorial Search (SoCS), pages 11–19, 2022.
[bibtex] [pdf] [publisher]

@inproceedings{BoyarskiSoCS22,
  author    = {Eli Boyarski and Shao-Hung Chan and Dor Atzmon and Ariel Felner and Sven Koenig},
  title     = {On Merging Agents in Multi-Agent Pathfinding Algorithms},
  booktitle = {Proceedings of the International Symposium on Combinatorial Search (SoCS)},
  pages     = {11--19},
  year      = {2022}
}

A MIP-Based Approach for Multi-Robot Geometric Task-and-Motion Planning.
Hejia Zhang, Shao-Hung Chan, Jie Zhong, Jiaoyang Li, Sven Koenig, and Stefanos Nikolaidis.
IEEE International Conference on Automation Science and Engineering (CASE), pages 2102-2109, 2022.
[bibtex] [pdf] [publisher]

@inproceedings{ZhangCASE22,
  author    = {Hejia Zhang and Shao-Hung Chan and Jie Zhong and Jiaoyang Li and Sven Koenig and Stefanos Nikolaidis},
  title     = {A {MIP}-Based Approach for Multi-Robot Geometric Task-and-Motion Planning},
  booktitle = {Proceedings of the IEEE International Conference on Automation Science and Engineering (CASE)},
  pages     = {2102--2109},  
  year      = {2022}
}

2021

Scalable Rail Planning and Replanning: Winning the 2020 Flatland Challenge
Winner of the NeurIPS’20 Flatland Challenge.
Jiaoyang Li, Zhe Chen, Yi Zheng, Shao-Hung Chan, Daniel Harabor, Peter J. Stuckey, Hang Ma, and Sven Koenig.
International Conference on Automated Planning and Scheduling (ICAPS), pages 477-485, 2021.
A short version appeared at the International Symposium on Combinatorial Search (SoCS), pages 179-181, 2021.
[bibtex] [code] [demo] [media] [pdf] [publisher] [talk]
```
@inproceedings{LiICAPS21,
  author    = {Jiaoyang Li and Zhe Chen and Yi Zheng and Shao-Hung Chan and Daniel Harabor and Peter J. Stuckey and Hang Ma and Sven Koenig},
  title     = {Scalable Rail Planning and Replanning: Winning the 2020 Flatland Challenge},
  booktitle = {Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS)},
  pages     = {477--485},
  year      = {2021}
}
```
A Hierarchical Approach to Multi-Agent Path Finding.
Han Zhang, Mingze Yao, Ziang Liu, Jiaoyang Li, Lucas Terr, Shao-Hung Chan, T. K. Satish Kumar, and Sven Koenig.
ICAPS Workshop on Hierarchical Planning (HPLAN), 2021.
A short version appeared at the International Symposium on Combinatorial Search (SoCS), pages 209-211, 2021.
[bibtex] [pdf]
```
@inproceedings{ZhangHPLAN21,
  author    = {Han Zhang and Mingze Yao and Ziang Liu and Jiaoyang Li and Lucas Terr and Shao-Hung Chan and T. K. Satish Kumar and Sven Koenig},
  title     = {A Hierarchical Approach to Multi-Agent Path Finding},
  booktitle = {ICAPS Workshop on Hierarchical Planning (HPLAN)},
  year      = {2021}
}
```

Flatland Competition 2020: MAPF and MARL for Efficient Train Coordination on a Grid World.
Florian Laurent, Manuel Schneider, Christian Scheller, Jeremy Watson, Jiaoyang Li, Zhe Chen, Yi Zheng, Shao-Hung Chan, Konstantin Makhnev, Oleg Svidchenko, Vladimir Egorov, Dmitry Ivanov, Aleksei Shpilman, Evgenija Spirovska, Oliver Tanevski, Aleksandar Nikov, Ramon Grunder, David Galevski, Jakov Mitrovski, Guillaume Sartoretti, Zhiyao Luo, Mehul Damani, Nilabha Bhattacharya, Shivam Agarwal, Adrian Egli, Erik Nygren, and Sharada Mohanty.
NeurIPS 2020 Competition and Demonstration Track, PMLR, volume 133, pages 275-301, 2021.
[bibtex] [pdf] [publisher]

@inproceedings{Laurent21,
  title     = {Flatland Competition 2020: MAPF and MARL for Efficient Train Coordination on a Grid World},
  author    = {Laurent, Florian and Schneider, Manuel and Scheller, Christian and Watson, Jeremy and Li, Jiaoyang and Chen, Zhe and Zheng, Yi and Chan, Shao-Hung and Makhnev, Konstantin and Svidchenko, Oleg and Egorov, Vladimir and Ivanov, Dmitry and Shpilman, Aleksei and Spirovska, Evgenija and Tanevski, Oliver and Nikov, Aleksandar and Grunder, Ramon and Galevski, David and Mitrovski, Jakov and Sartoretti, Guillaume and Luo, Zhiyao and Damani, Mehul and Bhattacharya, Nilabha and Agarwal, Shivam and Egli, Adrian and Nygren, Erik and Mohanty, Sharada},
  booktitle = {Proceedings of the NeurIPS 2020 Competition and Demonstration Track},
  pages     = {275--301},
  year      = {2021},
  volume    = {133},
  series    = {Proceedings of Machine Learning Research},
}

2020

Nested ECBS for Bounded-Suboptimal Multi-Agent Path Finding.
Shao-Hung Chan, Jiaoyang Li, Daniel Harabor, Peter J. Stuckey, Graeme Gange, Liron Cohen, and Sven Koenig.
IJCAI Workshop on Multi-Agent Path Finding (WoMAPF), 2020.
[bibtex] [pdf]

@inproceedings{ChanWoMAPF20,
  author    = {Shao-Hung Chan and Jiaoyang Li and Daniel Harabor and Peter J. Stuckey and Graeme Gange and Liron Cohen and Sven Koenig},
  title     = {Nested ECBS for Bounded-Suboptimal Multi-Agent Path Finding},
  booktitle = {IJCAI Workshop on Multi-Agent Path Finding (WoMAPF)},
  year      = {2020}
}

2019

Real-time Obstacle Avoidance using Supervised Recurrent Neural Network with Automatic Data Collection and Labeling.
Shao-Hung Chan, Xiaoyue Xu, Ping-Tsang Wu, Ming-Li Chiang, and Li-Chen Fu.
IEEE International Conference on System, Man, and Cybernetics (SMC), pages 472-477, 2019.
[bibtex] [pdf] [publisher]

@inproceedings{ChanSMC19,
  author    = {Shao-Hung Chan and Xiaoyue Xu and Ping-Tsang Wu and Ming-Li Chiang and Li-Chen Fu},
  title     = {Real-time Obstacle Avoidance using Supervised Recurrent Neural Network with Automatic Data Collection and Labeling},
  booktitle = {IEEE International Conference on System, Man, and Cybernetics (SMC)},
  pages     = {472--477},
  year      = {2019}
}

Multi-Layer Environmental Affordance Map for Robust Indoor Localization, Event Detection and Social Friendly Navigation.
Ping-Tsang Wu, Chee-An Yu, Shao-Hung Chan, Ming-Li Chiang, and Li-Chen Fu.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 2945-2950, 2019.
[bibtex] [pdf] [publisher]

@inproceedings{WuIROS19,
  author    = {Ping-Tsang Wu and Chee-An Yu and Shao-Hung Chan and Ming-Li Chiang and Li-Chen Fu},
  title     = {Multi-Layer Environmental Affordance Map for Robust Indoor Localization, Event Detection and Social Friendly Navigation},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages     = {2945--2950},
  year      = {2019}
}

2018

Robust 2D Indoor Localization through Laser SLAM and Visual SLAM Fusion.
Best Student Paper Award Finalist of IEEE SMC Society.
Shao-Hung Chan, Ping-Tsang Wu, and Li-Chen Fu.
IEEE International Conference on System, Man, and Cybernetics (SMC), pages 1263-1268, 2018.
[bibtex] [pdf] [publisher]

@inproceedings{ChanSMC18,
  author    = {Shao-Hung Chan and Ping-Tsang Wu and Li-Chen Fu},
  title     = {Robust 2D Indoor Localization through Laser SLAM and Visual SLAM Fusion},
  booktitle = {IEEE International Conference on System, Man, and Cybernetics (SMC)},
  pages     = {1263--1268},
  year      = {2018}
}

Distributed Deep Reinforcement Learning based Indoor Visual Navigation.
Shih-Hsi Hsu, Shao-Hung Chan, Ping-Tsang Wu, Kun Xiao, and Li-Chen Fu.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 2532-2537, 2018.
[bibtex] [pdf] [publisher]

@inproceedings{HsuIROS18,
  author    = {Shih-Hsi Hsu and Shao-Hung Chan and Ping-Tsang Wu and Kun Xiao and Li-Chen Fu},
  title     = {Distributed Deep Reinforcement Learning based Indoor Visual Navigation},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages     = {2532--2537},
  year      = {2018}
}

Ph.D. Dissertation

Flex Distribution for Bounded-Suboptimal Multi-Agent Path Finding.
Shao-Hung Chan.
[pdf]

Master Thesis

Optimal Navigation System for a Mobile Robot to Execute Dynamical Multiple Social Tasks.
Best Master Thesis of NTUEE in 2019.
Shao-Hung Chan.
[pdf]