| 2026 | AAAI | Local Guidance for Configuration-Based Multi-Agent Pathfinding. | Tomoki Arita, Keisuke Okumura |
| 2026 | AAAI | Graph Attention-Guided Search for Dense Multi-Agent Pathfinding. | Rishabh Jain, Keisuke Okumura, Michael Amir, Amanda Prorok |
| 2025 | IROS | D4orm: Multi-Robot Trajectories with Dynamics-aware Diffusion Denoised Deformations. | Yuhao Zhang, Keisuke Okumura, Heedo Woo, Ajay Shankar, Amanda Prorok |
| 2025 | SoCS | Lightweight and Effective Preference Construction in PIBT for Large-Scale Multi-Agent Pathfinding. | Keisuke Okumura, Hiroki Nagai |
| 2023 | AAAI | LaCAM: Search-Based Algorithm for Quick Multi-Agent Pathfinding. | Keisuke Okumura |
| 2023 | AAAI | Fault-Tolerant Offline Multi-Agent Path Planning. | Keisuke Okumura, Sbastien Tixeuil |
| 2023 | IJCAI | Improving LaCAM for Scalable Eventually Optimal Multi-Agent Pathfinding. | Keisuke Okumura |
| 2023 | IJCAI | Quick Multi-Robot Motion Planning by Combining Sampling and Search. | Keisuke Okumura, Xavier Dfago |
| 2022 | IJCAI | Offline Time-Independent Multi-Agent Path Planning. | Keisuke Okumura, Franois Bonnet, Yasumasa Tamura, Xavier Dfago |
| 2021 | AAAI | Time-Independent Planning for Multiple Moving Agents. | Keisuke Okumura, Yasumasa Tamura, Xavier Dfago |
| 2021 | ICRA | Active Modular Environment for Robot Navigation. | Shota Kameyama, Keisuke Okumura, Yasumasa Tamura, Xavier Dfago |
| 2021 | IROS | Iterative Refinement for Real-Time Multi-Robot Path Planning. | Keisuke Okumura, Yasumasa Tamura, Xavier Dfago |
| 2021 | VTC | Roadside-Assisted Cooperative Planning using Future Path Sharing for Autonomous Driving. | Mai Hirata, Manabu Tsukada, Keisuke Okumura, Yasumasa Tamura, Hideya Ochiai, Xavier Dfago |
| 2019 | IJCAI | Priority Inheritance with Backtracking for Iterative Multi-agent Path Finding. | Keisuke Okumura, Manao Machida, Xavier Dfago, Yasumasa Tamura |