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1. Real-Time LaCAM for Real-Time MAPF

   https://doi.org/10.1609/socs.v18i1.35993  

   Liang, Runzhe; Veerapaneni, Rishi; Harabor, Daniel; Li, Jiaoyang; Likhachev, Maxim (July 2025, Proceedings of the International Symposium on Combinatorial Search)

   The vast majority of Multi-Agent Path Finding (MAPF) methods with completeness guarantees require planning full-horizon paths. However, planning full-horizon paths can take too long and be impractical in real-world applications. Instead, real-time planning and execution, which only allows the planner a finite amount of time before executing and replanning, is more practical for real-world multi-agent systems. Several methods utilize real-time planning schemes but none are provably complete, which leads to livelock or deadlock. Our main contribution is Real-Time LaCAM, the first Real-Time MAPF method with provable completeness guarantees. We do this by leveraging LaCAM in an incremental fashion. Our results show how we can iteratively plan for congested environments with a cutoff time of milliseconds while still maintaining the same success rate as full-horizon LaCAM. We also show how it can be used with a single-step learned MAPF policy. 

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2. Real-time MLton: A Standard ML runtime for real-time functional programs

   https://doi.org/10.1017/S0956796821000174  

   SHIVKUMAR, BHARGAV; MURPHY, JEFFREY; ZIAREK, LUKASZ (January 2021, Journal of Functional Programming)

   Abstract There is a growing interest in leveraging functional programming languages in real-time and embedded contexts. Functional languages are appealing as many are strictly typed, amenable to formal methods, have limited mutation, and have simple but powerful concurrency control mechanisms. Although there have been many recent proposals for specialized domain-specific languages for embedded and real-time systems, there has been relatively little progress on adapting more general purpose functional languages for programming embedded and real-time systems. In this paper, we present our current work on leveraging Standard ML (SML) in the embedded and real-time domains. Specifically, we detail our experiences in modifying MLton, a whole-program optimizing compiler for SML, for use in such contexts. We focus primarily on the language runtime, reworking the threading subsystem, object model, and garbage collector. We provide preliminary results over a radar-based aircraft collision detector ported to SML. 

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3. Real-Time Time-Dependent Electronic Structure Theory

   https://doi.org/10.1021/acs.chemrev.0c00223  

   Li, Xiaosong; Govind, Niranjan; Isborn, Christine; DePrince, A. Eugene; Lopata, Kenneth (September 2020, Chemical Reviews)

   null (Ed.)
4. Adaptive Real-Time Routing in Polynomial Time

   https://doi.org/10.1109/RTSS46320.2019.00034  

   Agrawal, Kunal; Baruah, Sanjoy (December 2019, 2019 IEEE Real-Time Systems Symposium (RTSS))
5. Real-space, real-time approach to quantum-electrodynamical time-dependent density functional theory

   https://doi.org/10.1063/5.0123909  

   Malave, Justin; Ahrens, Alexander; Pitagora, Daniel; Covington, Cody; Varga, Kálmán (November 2022, The Journal of Chemical Physics)

   The quantum-electrodynamical time-dependent density functional theory equations are solved by time propagating the wave function on a tensor product of a Fock-space and real-space grid. Applications for molecules in cavities show the accuracy of the approach. Examples include the coupling strength and light frequency dependence of the energies, wave functions, optical absorption spectra, and Rabi splitting magnitudes in cavities, as well as a description of high harmonic generation in cavities. 

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