Research map / Multi-agent systems and games / Human-AI and goal-conditioned
Conflict-based search for MAPF
Improves conflict-based search with better heuristics and prioritization for bounded-suboptimal path finding.
8 accepted papers at ICML, NeurIPS, ICLR, CVPR and AAAI (2019–2023) · an approach in Human-AI and goal-conditioned, keyword cluster “mapf · agent path · path finding”
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Where it stands
Not enough benchmark data Fewer than four papers report the same benchmark, so there is no record to follow.
1 papers in 2023–24 and 0 in 2025–26 (at ICML, NeurIPS, ICLR, CVPR and AAAI); its share of the topic shrank, from 0.3% to 0.0%.
How this is decided
A benchmark is tracked when at least four papers of this approach report their own method on the same dataset and metric in at least two different years. Its record is the best number reported up to 2024 compared with the best reported in 2025–26: still improving means at least 1% better, flat means at most 0.2% better with at least two papers from 2025–26 trying. Numbers on a different scale from the rest (a fraction among percentages) and far outliers are left out. Results come from different papers with different setups, so they are signals, not head-to-head comparisons. The share of papers is counted at ICML, NeurIPS, ICLR, CVPR and AAAI.
How it got here
Most cited paper of each year
- 2019 · Multi-Agent Path Finding for Large Agents (AAAI 2019 · 114 citations)
- 2020 · Generalized and Sub-Optimal Bipartite Constraints for Conflict-Based Search (AAAI 2020 · 14 citations)
- 2021 · EECBS: A Bounded-Suboptimal Search for Multi-Agent Path Finding (AAAI 2021 · 212 citations)
- 2023 · Effective Integration of Weighted Cost-to-Go and Conflict Heuristic within Suboptimal CBS (AAAI 2023 · 5 citations)
Earliest papers here
- Multi-Agent Path Finding for Large Agents (AAAI 2019 · 114 citations)
- Generalized and Sub-Optimal Bipartite Constraints for Conflict-Based Search (AAAI 2020 · 14 citations)
- EECBS: A Bounded-Suboptimal Search for Multi-Agent Path Finding (AAAI 2021 · 212 citations)
What has been tried
8 papers here report 66 measured changes (a component added, removed or swapped, compared with a baseline): helped 62%, no clear effect 12%, hurt 20%, mixed 6%. Papers mostly publish changes that helped, so "helped" is over-represented.
Recent preprints
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Related approaches
Same keyword cluster
- Learning-guided MAPF search (73 papers)
Elsewhere in the topic
- Human-AI coordination agents (125 papers)
- World-model-based agents (110 papers)
- Imitation and skill learning (100 papers)
- Language-grounded reinforcement agents (96 papers)
- Embodied agent learning (93 papers)
- Boundedly rational agent modeling (87 papers)
- Collaborative multi-agent perception (86 papers)
- Intrinsically motivated exploration (86 papers)
Benchmark numbers, ablations and baseline numbers are extracted by AI from each paper's full text and can be wrong; the paper is the authority. Data: results index of 2026-11-02, citation counts from OpenAlex (2026-10-09).