Amoeba Exploration: Coordinated Exploration with Distributed Robots. - Keisuke Okumura 001; Yasumasa Tamura; Xavier Défago (iCAST, 2018)

winPIBT: Expanded Prioritized Algorithm for Iterative Multi-agent Path Finding. - Keisuke Okumura 001; Yasumasa Tamura; Xavier Défago (CoRR, 2019)

Investigating the Hand Ownership Illusion With Two Views Merged in. - Keisuke Okumura 001; Hiroki Ora; Yoshihiro Miyake (Frontiers Robotics AI, 2020)

Time-Independent Planning for Multiple Moving Agents. - Keisuke Okumura 001; Yasumasa Tamura; Xavier Défago (AAAI, 2021)

Active Modular Environment for Robot Navigation. - Shota Kameyama; Keisuke Okumura 001; Yasumasa Tamura; Xavier Défago (ICRA, 2021)

Iterative Refinement for Real-Time Multi-Robot Path Planning. - Keisuke Okumura 001; Yasumasa Tamura; Xavier Défago (IROS, 2021)

Roadside-Assisted Cooperative Planning using Future Path Sharing for Autonomous Driving. - Mai Hirata; Manabu Tsukada; Keisuke Okumura 001; Yasumasa Tamura; Hideya Ochiai; Xavier Défago (VTC Fall, 2021)

CTRMs: Learning to Construct Cooperative Timed Roadmaps for Multi-agent Path Planning in Continuous Spaces. - Keisuke Okumura 001; Ryo Yonetani; Mai Nishimura; Asako Kanezaki (AAMAS, 2022)

Offline Time-Independent Multi-Agent Path Planning. - Keisuke Okumura 001; François Bonnet 001; Yasumasa Tamura; Xavier Défago (IJCAI, 2022)

Priority inheritance with backtracking for iterative multi-agent path finding. - Keisuke Okumura 001; Manao Machida; Xavier Défago; Yasumasa Tamura (Artif. Intell., 2022)

LaCAM: Search-Based Algorithm for Quick Multi-Agent Pathfinding. - Keisuke Okumura 001 (AAAI, 2023)

Fault-Tolerant Offline Multi-Agent Path Planning. - Keisuke Okumura 001; Sébastien Tixeuil (AAAI, 2023)

Improving LaCAM for Scalable Eventually Optimal Multi-Agent Pathfinding. - Keisuke Okumura 001 (IJCAI, 2023)

Quick Multi-Robot Motion Planning by Combining Sampling and Search. - Keisuke Okumura 001; Xavier Défago (IJCAI, 2023)

Engineering LaCAM*: Towards Real-Time, Large-Scale, and Near-Optimal Multi-Agent Pathfinding. - Keisuke Okumura 001 (CoRR, 2023)

Solving simultaneous target assignment and path planning efficiently with time-independent execution. - Keisuke Okumura 001; Xavier Défago (Artif. Intell., 2023)

Offline Time-Independent Multiagent Path Planning. - Keisuke Okumura 001; François Bonnet 001; Yasumasa Tamura; Xavier Défago (IEEE Trans. Robotics, 2023)

Engineering LaCAM*: Towards Real-time, Large-scale, and Near-optimal Multi-agent Pathfinding. - Keisuke Okumura 001 (AAMAS, 2024)

A Comprehensive Review on Leveraging Machine Learning for Multi-Agent Path Finding. - Jean-Marc Alkazzi; Keisuke Okumura 001 (IEEE Access, 2024)

Pathfinding with Lazy Successor Generation. - Keisuke Okumura 001 (CoRR, 2024)

D4orm: Multi-Robot Trajectories with Dynamics-aware Diffusion Denoised Deformations. - Yuhao Zhang; Keisuke Okumura 001; Heedo Woo; Ajay Shankar; Amanda Prorok (CoRR, 2025)

Lightweight and Effective Preference Construction in PIBT for Large-Scale Multi-Agent Pathfinding. - Keisuke Okumura 001; Hiroki Nagai (CoRR, 2025)

LF: Online Multi-Robot Path Planning Meets Optimal Trajectory Control. - Ajay Shankar; Keisuke Okumura 001; Amanda Prorok (CoRR, 2025)

ReCoDe: Reinforcement Learning-based Dynamic Constraint Design for Multi-Agent Coordination. - Michael Amir; Guang Yang 018; Zhan Gao; Keisuke Okumura 001; Heedo Woo; Amanda Prorok (CoRR, 2025)

Congestion Mitigation Path Planning for Large-Scale Multi-Agent Navigation in Dense Environments. - Takuro Kato; Keisuke Okumura 001; Yoko Sasaki; Naoya Yokomachi (IEEE Robotics Autom. Lett., 2025)