Publications
Journal
[J9] Representation granularity enables time-efficient autonomous exploration in large, complex worlds
Chao Cao, Hongbiao Zhu, Zhongqiang Ren, Howie Choset and Ji Zhang.
Science Robotics, 2023.
[Paper][J8] ERCA*: A New Approach for the Resource Constrained Shortest Path Problem
Zhongqiang Ren, Zachary B. Rubinstein, Stephen F. Smith, Sivakumar Rathinam and Howie Choset.
IEEE Transactions on Intelligent Transportation Systems (T-ITS), 2023.
[Bibtex] [Paper] [Code][J7] A Pareto-Optimal Local Optimization Framework for Multi-Objective Ergodic Search
Zhongqiang Ren, Akshaya Kesarimangalam Srinivasan, Bhaskar Vundurthy, Ian Abraham and Howie Choset.
IEEE Transaction on Robotics (T-RO), 2023.
[Bibtex] [Paper] [Code] [talk at RSS22][J6] 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, and Sebastian Scherer.
IEEE Robotics and Automation Letters (RA-L), 2023.
[Bibtex] [Paper][J5] CBSS: A New Approach for Multiagent Combinatorial Path Finding
Zhongqiang Ren, Sivakumar Rathinam and Howie Choset.
IEEE Transaction on Robotics (T-RO), 2023.
[Bibtex] [Paper] [Code] [talk at RSS22][J4] Multi-Objective Safe-Interval Path Planning With Dynamic Obstacles
Zhongqiang Ren, Sivakumar Rathinam, Maxim Likhachev and Howie Choset.
IEEE Robotics and Automation Letters (RA-L), 2022.
(Presentation at IROS-2022)
[Bibtex] [Paper] [Code][J3] A Conflict-Based Search Framework for Multi-Objective Multi-Agent Path Finding
Zhongqiang Ren, Sivakumar Rathinam and Howie Choset.
IEEE Transactions on Automation Science and Engineering (T-ASE), 2022.
[Bibtex] [Paper] [Code] [ICRA-2021 Talk][J2] Multi-Objective Path-Based D* Lite
Zhongqiang Ren, Sivakumar Rathinam, Maxim Likhachev and Howie Choset.
IEEE Robotics and Automation Letters (RA-L), 2022.
(Presentation at ICRA-2022)
[Bibtex] [Paper] [Talk][J1] Subdimensional Expansion for Multi-objective Multi-agent Path Finding
Zhongqiang Ren, Sivakumar Rathinam, and Howie Choset.
IEEE Robotics and Automation Letters (RA-L), 2021.
(Presentation at IROS-2021)
[Bibtex] [Paper] [Talk] [Code]
Conference
[C14] Solving Multi-Agent Target Assignment and Path Finding with a Single Constraint Tree
Yimin Tang, Zhongqiang Ren, Jiaoyang Li and Katia Sycara
IEEE International Symposium on Multi-Robot & Multi-Agent Systems (MRS), 2023.
[Paper] [Code][C13] Multi-Agent Multi-Objective Ergodic Search using Branch and Bound
Akshaya K. Srinivasan, Geordan Gutow, Zhongqiang Ren, Ian Abraham, Bhaskar Vundurthy and Howie Choset.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.
[Paper][C12] Binary Branching Multi-Objective Conflict-Based Search for Multi-Agent Path Finding
Zhongqiang Ren, Jiaoyang Li, Han Zhang, Sven Koenig, Sivakumar Rathinam and Howie Choset.
International Conference on Automated Planning and Scheduling (ICAPS), 2023.
[Bibtex] [Paper] [Code][C11] Search Algorithms for Multi-Agent Teamwise Cooperative Path Finding
Zhongqiang Ren, Chaoran Zhang, Sivakumar Rathinam and Howie Choset.
IEEE International Conference on Robotics and Automation (ICRA), 2023.
[Bibtex] [Paper][C10] PyPose: A Library for Robot Learning with Physics-based Optimization
Chen Wang, et al.
The IEEE/CVF Conference on Computer Vision and Pattern Recognition 2023 (CVPR), 2023.
[Bibtex] [Paper] [Code][C9] Enhanced Multi-Objective A* Using Balanced Binary Search Trees
Zhongqiang Ren, Richard Zhan, Sivakumar Rathinam, Maxim Likhachev and Howie Choset.
International Symposium on Combinatorial Search (SoCS), 2022.
[Bibtex] [Paper] [Code] [Talk][C8] Conflict-Based Steiner Search for Multi-Agent Combinatorial Path Finding
Zhongqiang Ren, Sivakumar Rathinam, and Howie Choset.
Robotics: Science and Systems (RSS), 2022.
[Bibtex] [Paper] [Code] [talk][C7] A Local Optimization Framework for Multi-Objective Ergodic Search
Zhongqiang Ren, Akshaya Kesarimangalam Srinivasan, Howard Coffin, Ian Abraham and Howie Choset.
Robotics: Science and Systems (RSS), 2022.
[Bibtex] [Paper] [Code] [talk][C6] A Lower Bounding Framework for Motion Planning amid Dynamic Obstacles in 2D
Zhongqiang Ren, Sivakumar Rathinam and Howie Choset.
Workshop on Algorithmic Foundations of Robotics (WAFR), 2022.
[Bibtex] [Paper] [talk][C5] Loosely Synchronized Search for Multi-agent Path Finding with Asynchronous Actions
Zhongqiang Ren, Sivakumar Rathinam, and Howie Choset.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
[Bibtex] [Paper] [Talk][C4] Multi-objective Conflict-based Search for Multi-agent Path Finding
Zhongqiang Ren, Sivakumar Rathinam, and Howie Choset.
IEEE International Conference on Robotics and Automation (ICRA), 2021.
[Bibtex] [Paper] [Talk] [Code][C3 ]MS*: A New Exact Algorithm for Multi-agent Simultaneous Multi-goal Sequencing and Path Finding
Zhongqiang Ren, Sivakumar Rathinam, and Howie Choset.
IEEE International Conference on Robotics and Automation (ICRA), 2021.
[Bibtex] [Paper] [Talk][C2] Geometric motion planning for systems with toroidal and cylindrical shape spaces
Chaohui Gong, Zhongqiang Ren, Julian Whitman, Jaskaran Grover, Baxi Chong, and Howie Choset.
Dynamic Systems and Control Conference, American Society of Mechanical Engineers, 2018.
[Bibtex] [Paper] [PDF][C1] Deformed state lattice planning
Zhongqiang Ren, Chaohui Gong, and Howie Choset.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.
[Bibtex] [Paper] [PDF]
Preprint
Subdimensional Expansion Using Attention-Based Learning For Multi-Agent Path Finding
Lakshay Virmani, Zhongqiang Ren, Sivakumar Rathinam, and Howie Choset.
arXiv
[Bibtex] [Arxiv] [Video] [Code]Multi-objective Conflict-based Search Using Safe-interval Path Planning
Zhongqiang Ren, Sivakumar Rathinam, Maxim Likhachev and Howie Choset.
arXiv
[Bibtex] [Arxiv]