Maxim Likhachev

According to our database, Maxim Likhachev authored at least 206 papers between 2001 and 2024.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of three.

2024

Improving Learnt Local MAPF Policies with Heuristic Search.

Rishi Veerapaneni, Qian Wang, Kevin Ren, Arthur Jakobsson, Jiaoyang Li, Maxim Likhachev

CoRR, 2024

PINSAT: Parallelized Interleaving of Graph Search and Trajectory Optimization for Kinodynamic Motion Planning.

Ramkumar Natarajan, Shohin Mukherjee, Howie Choset, Maxim Likhachev

CoRR, 2024

Preprocessing-based Kinodynamic Motion Planning Framework for Intercepting Projectiles using a Robot Manipulator.

Ramkumar Natarajan, Hanlan Yang, Qintong Xie, Yash Oza, Manash Pratim Das, Fahad Islam, Muhammad Suhail Saleem, Howie Choset, Maxim Likhachev

CoRR, 2024

2023

Preprocessing-Based Planning for Utilizing Contacts in Semi-Structured High-Precision Insertion Tasks.

Muhammad Suhail Saleem, Rishi Veerapaneni, Maxim Likhachev

IEEE Robotics Autom. Lett., November, 2023

Constant-time Motion Planning with Anytime Refinement for Manipulation.

Itamar Mishani, Hayden Feddock, Maxim Likhachev

CoRR, 2023

A-ePA*SE: Anytime Edge-Based Parallel A* for Slow Evaluations.

Hanlan Yang, Shohin Mukherjee, Maxim Likhachev

Proceedings of the Sixteenth International Symposium on Combinatorial Search, 2023

GePA*SE: Generalized Edge-Based Parallel A* for Slow Evaluations.

Shohin Mukherjee, Maxim Likhachev

Proceedings of the Sixteenth International Symposium on Combinatorial Search, 2023

Efficient Recovery Learning using Model Predictive Meta-Reasoning.

Shivam Vats, Maxim Likhachev, Oliver Kroemer

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Planning for Complex Non-prehensile Manipulation Among Movable Objects by Interleaving Multi-Agent Pathfinding and Physics-Based Simulation.

Dhruv Mauria Saxena, Maxim Likhachev

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Operating with Inaccurate Models by Integrating Control-Level Discrepancy Information into Planning.

Ellis Ratner, Claire J. Tomlin, Maxim Likhachev

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Torque-Limited Manipulation Planning through Contact by Interleaving Graph Search and Trajectory Optimization.

Ramkumar Natarajan, Garrison L. H. Johnston, Nabil Simaan, Maxim Likhachev, Howie Choset

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Learning Local Heuristics for Search-Based Navigation Planning.

Rishi Veerapaneni, Muhammad Suhail Saleem, Maxim Likhachev

Proceedings of the Thirty-Third International Conference on Automated Planning and Scheduling, 2023

Planning for Manipulation among Movable Objects: Deciding Which Objects Go Where, in What Order, and How.

Dhruv Saxena, Maxim Likhachev

Proceedings of the Thirty-Third International Conference on Automated Planning and Scheduling, 2023

Runahead A*: Speculative Parallelism for A* with Slow Expansions.

Mohammad Bakhshalipour, Mohamad Qadri, Dominic Guri, Seyed Borna Ehsani, Maxim Likhachev, Phillip B. Gibbons

Proceedings of the Thirty-Third International Conference on Automated Planning and Scheduling, 2023

Effective Integration of Weighted Cost-to-Go and Conflict Heuristic within Suboptimal CBS.

Rishi Veerapaneni, Tushar Kusnur, Maxim Likhachev

Proceedings of the Thirty-Seventh AAAI Conference on Artificial Intelligence, 2023

2022

Human-Scale Mobile Manipulation Using RoMan.

Chad Kessens, Matthew Kaplan, Trevor Rocks, Philip R. Osteen, John G. Rogers, Ethan Stump, Arnon Hurwitz, Jonathan Fink, Long Quang, Mark Gonzalez, Jaymit Patel, Michael Diblasi, Shiyani Patel, Matthew Weiker, Dilip Patel, Joseph Bowkett, Renaud Detry, Sisir Karumanchi, Larry H. Matthies, Joel Burdick, Yash Oza, Aditya Agarwal, Andrew Dornbush, Dhruv Saxena, Maxim Likhachev, Karl Schmeckpeper, Kostas Daniilidis, Ajinkya Kamat, Aditya Mandalika, Sanjiban Choudhury, Siddhartha S. Srinivasa

Field Robotics, March, 2022

Multi-Objective Safe-Interval Path Planning With Dynamic Obstacles.

Zhongqiang Ren, Sivakumar Rathinam, Maxim Likhachev, Howie Choset

IEEE Robotics Autom. Lett., 2022

Multi-Objective Path-Based D* Lite.

Zhongqiang Ren, Sivakumar Rathinam, Maxim Likhachev, Howie Choset

IEEE Robotics Autom. Lett., 2022

MPLP: Massively Parallelized Lazy Planning.

Shohin Mukherjee, Sandip Aine, Maxim Likhachev

IEEE Robotics Autom. Lett., 2022

Efficiently Learning Recoveries from Failures Under Partial Observability.

Shivam Vats, Maxim Likhachev, Oliver Kroemer

CoRR, 2022

Non-Blocking Batch A* (Technical Report).

Rishi Veerapaneni, Maxim Likhachev

CoRR, 2022

Effectively Incorporating Weighted Cost-to-go Heuristic in Suboptimal CBS.

Rishi Veerapaneni, Tushar Kusnur, Maxim Likhachev

CoRR, 2022

Enhanced Multi-Objective A* Using Balanced Binary Search Trees.

Zhongqiang Ren, Sivakumar Rathinam, Maxim Likhachev, Howie Choset

CoRR, 2022

Effectively Incorporating Weighted Cost-to-go Heuristic in Suboptimal CBS (Extended Abstract).

Rishi Veerapaneni, Tushar Kusnur, Maxim Likhachev

Proceedings of the Fifteenth International Symposium on Combinatorial Search, 2022

Enhanced Multi-Objective A* Using Balanced Binary Search Trees.

Zhongqiang Ren, Richard Zhan, Sivakumar Rathinam, Maxim Likhachev, Howie Choset

Proceedings of the Fifteenth International Symposium on Combinatorial Search, 2022

ePA*SE: Edge-Based Parallel A* for Slow Evaluations.

Shohin Mukherjee, Sandip Aine, Maxim Likhachev

Proceedings of the Fifteenth International Symposium on Combinatorial Search, 2022

MA3: Model-Accuracy Aware Anytime Planning with Simulation Verification for Navigating Complex Terrains.

Manash Pratim Das, Damon M. Conover, Sungmin Eum, Heesung Kwon, Maxim Likhachev

Proceedings of the Fifteenth International Symposium on Combinatorial Search, 2022

On the Effectiveness of Iterative Learning Control.

Anirudh Vemula, Wen Sun, Maxim Likhachev, J. Andrew Bagnell

Proceedings of the Learning for Dynamics and Control Conference, 2022

RTRBench: A Benchmark Suite for Real-Time Robotics.

Mohammad Bakhshalipour, Maxim Likhachev, Phillip B. Gibbons

Proceedings of the International IEEE Symposium on Performance Analysis of Systems and Software, 2022

RACOD: algorithm/hardware co-design for mobile robot path planning.

Mohammad Bakhshalipour, Seyed Borna Ehsani, Mohamad Qadri, Dominic Guri, Maxim Likhachev, Phillip B. Gibbons

Proceedings of the ISCA '22: The 49th Annual International Symposium on Computer Architecture, New York, New York, USA, June 18, 2022

Synergistic Scheduling of Learning and Allocation of Tasks in Human-Robot Teams.

Shivam Vats, Oliver Kroemer, Maxim Likhachev

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

AMRA*: Anytime Multi-Resolution Multi-Heuristic A.

Dhruv Mauria Saxena, Tushar Kusnur, Maxim Likhachev

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Improved Soft Duplicate Detection in Search-Based Motion Planning.

Nader Maray, Anirudh Vemula, Maxim Likhachev

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Complete, Decomposition-Free Coverage Path Planning.

Tushar Kusnur, Maxim Likhachev

Proceedings of the 18th IEEE International Conference on Automation Science and Engineering, 2022

Euclidean Distance-Optimal Post-processing of Grid-Based Paths.

Guru Koushik Senthil Kumar, Sandip Aine, Maxim Likhachev

Proceedings of the Thirty-Second International Conference on Automated Planning and Scheduling, 2022

Minimizing Coordination in Multi-Agent Path Finding with Dynamic Execution.

Aidan Wagner, Rishi Veerapaneni, Maxim Likhachev

Proceedings of the Eighteenth AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment, 2022

2021

Fast and High-Quality, GPU-based, Deliberative, Object-Pose Estimation.

Aditya Agarwal, Yash Oza, Maxim Likhachev, Chad Kessens

Field Robotics, October, 2021

Interleaving Graph Search and Trajectory Optimization for Aggressive Quadrotor Flight.

Ramkumar Natarajan, Howie Choset, Maxim Likhachev

IEEE Robotics Autom. Lett., 2021

Optimal Planning Over Long and Infinite Horizons for Achieving Independent Partially-Observable Tasks That Evolve Over Time.

Anahita Mohseni-Kabir, Manuela Veloso, Maxim Likhachev

IEEE Robotics Autom. Lett., 2021

Provably constant-time planning and replanning for real-time grasping objects off a conveyor belt.

Fahad Islam, Oren Salzman, Aditya Agarwal, Maxim Likhachev

Int. J. Robotics Res., 2021

Waiting Tables as a Robot Planning Problem.

Anahita Mohseni-Kabir, Manuela Veloso, Maxim Likhachev

CoRR, 2021

Learning Optimal Decision Making for an Industrial Truck Unloading Robot using Minimal Simulator Runs.

Manash Pratim Das, Anirudh Vemula, Mayank Pathak, Sandip Aine, Maxim Likhachev

CoRR, 2021

Theory and Analysis of Optimal Planning over Long and Infinite Horizons for Achieving Independent Partially-Observable Tasks that Evolve over Time.

Anahita Mohseni-Kabir, Manuela Veloso, Maxim Likhachev

CoRR, 2021

Fast Bounded Suboptimal Probabilistic Planning with Clear Preferences on Missing Information.

Ishani Chatterjee, Tushar Kusnur, Maxim Likhachev

Proceedings of the Fourteenth International Symposium on Combinatorial Search, 2021

Search-based Path Planning for a High Dimensional Manipulator in Cluttered Environments Using Optimization-based Primitives.

Muhammad Suhail Saleem, Raghav Sood, Sho Onodera, Rohit Arora, Hiroyuki Kanazawa, Maxim Likhachev

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Reactive Long Horizon Task Execution via Visual Skill and Precondition Models.

Shohin Mukherjee, Chris Paxton, Arsalan Mousavian, Adam Fishman, Maxim Likhachev, Dieter Fox

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Disruption-Limited Planning for Robot Navigation in Dynamic Environments.

Sandip Aine, Yash Oza, Maxim Likhachev

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Search-based Planning with Learned Behaviors for Navigation among Pedestrians.

Ishani Chatterjee, Yash Oza, Maxim Likhachev, Manuela Veloso

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Manipulation Planning Among Movable Obstacles Using Physics-Based Adaptive Motion Primitives.

Dhruv Mauria Saxena, Muhammad Suhail Saleem, Maxim Likhachev

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Search-based Planning for Active Sensing in Goal-Directed Coverage Tasks.

Tushar Kusnur, Dhruv Mauria Saxena, Maxim Likhachev

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Affordable Autonomy through Cooperative Sensing and Planning.

Paritosh Kelkar, Parth Chopra, Savio Pereira, Dan DeLano, Aaron Miller, Kyungzun Rim, Samer Rajab, Jonathan Butzke, Maxim Likhachev

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Alternative Paths Planner (APP) for Provably Fixed-time Manipulation Planning in Semi-structured Environments.

Fahad Islam, Chris Paxton, Clemens Eppner, Bryan Peele, Maxim Likhachev, Dieter Fox

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Speeding Up Search-Based Motion Planning using Expansion Delay Heuristics.

Jasmeet Kaur, Ishani Chatterjee, Maxim Likhachev

Proceedings of the Thirty-First International Conference on Automated Planning and Scheduling, 2021

CMAX++ : Leveraging Experience in Planning and Execution using Inaccurate Models.

Anirudh Vemula, J. Andrew Bagnell, Maxim Likhachev

Proceedings of the Thirty-Fifth AAAI Conference on Artificial Intelligence, 2021

2020

Multirepresentation, Multiheuristic A* search-based motion planning for a free-floating underwater vehicle-manipulator system in unknown environment.

Dina Youakim, Patryk Cieslak, Andrew Dornbush, Albert Palomer, Pere Ridao, Maxim Likhachev

J. Field Robotics, 2020

Sim-to-Real Task Planning and Execution from Perception via Reactivity and Recovery.

Shohin Mukherjee, Chris Paxton, Arsalan Mousavian, Adam Fishman, Maxim Likhachev, Dieter Fox

CoRR, 2020

Provably Constant-Time Planning and Re-planning for Real-time Grasping Objects off a Conveyor.

Fahad Islam, Oren Salzman, Aditya Agraval, Maxim Likhachev

CoRR, 2020

Effective footstep planning using homotopy-class guidance.

Vinitha Ranganeni, Sahit Chintalapudi, Oren Salzman, Maxim Likhachev

Artif. Intell., 2020

Multi-Resolution A.

Wei Du, Fahad Islam, Maxim Likhachev

Proceedings of the Thirteenth International Symposium on Combinatorial Search, 2020

Planning and Execution using Inaccurate Models with Provable Guarantees.

Anirudh Vemula, Yash Oza, J. Andrew Bagnell, Maxim Likhachev

Proceedings of the Robotics: Science and Systems XVI, 2020

Provably Constant-time Planning and Re-planning for Real-time Grasping Objects off a Conveyor Belt.

Fahad Islam, Oren Salzman, Aditya Agarwal, Maxim Likhachev

Proceedings of the Robotics: Science and Systems XVI, 2020

Learning to Use Adaptive Motion Primitives in Search-Based Planning for Navigation.

Raghav Sood, Shivam Vats, Maxim Likhachev

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

PERCH 2.0 : Fast and Accurate GPU-based Perception via Search for Object Pose Estimation.

Aditya Agarwal, Yupeng Han, Maxim Likhachev

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Driving in Dense Traffic with Model-Free Reinforcement Learning.

Dhruv Mauria Saxena, Sangjae Bae, Alireza Nakhaei, Kikuo Fujimura, Maxim Likhachev

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Planning with Selective Physics-based Simulation for Manipulation Among Movable Objects.

Muhammad Suhail Saleem, Maxim Likhachev

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Cooperative Perception and Localization for Cooperative Driving.

Aaron Miller, Kyungzun Rim, Parth Chopra, Paritosh Kelkar, Maxim Likhachev

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Planning, Learning and Reasoning Framework for Robot Truck Unloading.

Fahad Islam, Anirudh Vemula, Sung-Kyun Kim, Andrew Dornbush, Oren Salzman, Maxim Likhachev

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Efficient Robot Planning for Achieving Multiple Independent Partially Observable Tasks That Evolve over Time.

Anahita Mohseni-Kabir, Manuela Veloso, Maxim Likhachev

Proceedings of the Thirtieth International Conference on Automated Planning and Scheduling, 2020

2019

Provable Infinite-Horizon Real-Time Planning for Repetitive Tasks.

Fahad Islam, Oren Salzman, Maxim Likhachev

CoRR, 2019

A-MHA*: Anytime Multi-Heuristic A.

Ramkumar Natarajan, Muhammad Suhail Saleem, Sandip Aine, Maxim Likhachev, Howie Choset

Proceedings of the Twelfth International Symposium on Combinatorial Search, 2019

Intuitive, Reliable Plans with Contingencies: Planning with Safety Nets for Landmark-Based Routing.

Kalyan Vasudev Alwala, Margarita Safonova, Oren Salzman, Maxim Likhachev

Proceedings of the Twelfth International Symposium on Combinatorial Search, 2019

Escaping Local Minima in Search-Based Planning using Soft Duplicate Detection.

Wei Du, Sung-Kyun Kim, Oren Salzman, Maxim Likhachev

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Bidirectional Heuristic Search for Motion Planning with an Extend Operator.

Allen Cheng, Dhruv Mauria Saxena, Maxim Likhachev

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

A Planning Framework for Persistent, Multi-UAV Coverage with Global Deconfliction.

Tushar Kusnur, Shohin Mukherjee, Dhruv Mauria Saxena, Tomoya Fukami, Takayuki Koyama, Oren Salzman, Maxim Likhachev

Proceedings of the Field and Service Robotics, 2019

POMHDP: Search-Based Belief Space Planning Using Multiple Heuristics.

Sung-Kyun Kim, Oren Salzman, Maxim Likhachev

Proceedings of the Twenty-Ninth International Conference on Automated Planning and Scheduling, 2019

Provable Indefinite-Horizon Real-Time Planning for Repetitive Tasks.

Fahad Islam, Oren Salzman, Maxim Likhachev

Proceedings of the Twenty-Ninth International Conference on Automated Planning and Scheduling, 2019

Speeding Up Search-Based Motion Planning via Conservative Heuristics.

Ishani Chatterjee, Maxim Likhachev, Ashwin Khadke, Manuela Veloso

Proceedings of the Twenty-Ninth International Conference on Automated Planning and Scheduling, 2019

2018

A Single-Planner Approach to Multi-Modal Humanoid Mobility.

Andrew Dornbush, Karthik Vijayakumar, Sameer Bardapurkar, Fahad Islam, Maxim Likhachev

CoRR, 2018

Motion Planning for an Underwater Mobile Manipulator by Exploiting Loose Coupling.

Dina Youakim, Andrew Dornbush, Maxim Likhachev, Pere Ridao

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

FOCS: Planning by Fusion of Optimal Control & Search and its Application to Navigation.

Piero Micelli, Maxim Likhachev

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Online, Interactive User Guidance for High-dimensional, Constrained Motion Planning.

Fahad Islam, Oren Salzman, Maxim Likhachev

Proceedings of the Twenty-Seventh International Joint Conference on Artificial Intelligence, 2018

A Single-Planner Approach to Multi-Modal Humanoid Mobility.

Andrew Dornbush, Karthik Vijayakumar, Sameer Bardapurkar, Fahad Islam, Masayuki Ito, Maxim Likhachev

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Effective Footstep Planning for Humanoids Using Homotopy-Class Guidance.

Vinitha Ranganeni, Oren Salzman, Maxim Likhachev

Proceedings of the Twenty-Eighth International Conference on Automated Planning and Scheduling, 2018

2017

Coordinated Path Planning for Fixed-Wing UAS Conducting Persistent Surveillance Missions.

James Keller, Dinesh Thakur, Maxim Likhachev, Jean Gallier, Vijay Kumar

IEEE Trans Autom. Sci. Eng., 2017

Search Reduction through Conservative Abstract-Space Based Heuristic.

Ishani Chatterjee, Maxim Likhachev, Manuela M. Veloso

Proceedings of the Tenth International Symposium on Combinatorial Search, 2017

Deliberative object pose estimation in clutter.

Venkatraman Narayanan, Maxim Likhachev

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Parts assembly planning under uncertainty with simulation-aided physical reasoning.

Sung-Kyun Kim, Maxim Likhachev

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Learning to Avoid Local Minima in Planning for Static Environments.

Shivam Vats, Venkatraman Narayanan, Maxim Likhachev

Proceedings of the Twenty-Seventh International Conference on Automated Planning and Scheduling, 2017

Heuristic Search on Graphs with Existence Priors for Expensive-to-Evaluate Edges.

Venkatraman Narayanan, Maxim Likhachev

Proceedings of the Twenty-Seventh International Conference on Automated Planning and Scheduling, 2017

Towards Adaptability of Demonstration-Based Training of NPC Behavior.

John Drake, Alla Safonova, Maxim Likhachev

Proceedings of the Thirteenth AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment (AIIDE-17), 2017

2016

Multi-Heuristic A.

Sandip Aine, Siddharth Swaminathan, Venkatraman Narayanan, Victor Hwang, Maxim Likhachev

Int. J. Robotics Res., 2016

Learning to plan for constrained manipulation from demonstrations.

Mike Phillips, Victor Hwang, Sachin Chitta, Maxim Likhachev

Auton. Robots, 2016

Robot Planning in the Real World: Research Challenges and Opportunities.

Ron Alterovitz, Sven Koenig, Maxim Likhachev

AI Mag., 2016

Truncated incremental search.

Sandip Aine, Maxim Likhachev

Artif. Intell., 2016

Discriminatively-guided Deliberative Perception for Pose Estimation of Multiple 3D Object Instances.

Venkatraman Narayanan, Maxim Likhachev

Proceedings of the Robotics: Science and Systems XII, University of Michigan, Ann Arbor, Michigan, USA, June 18, 2016

PERCH: Perception via search for multi-object recognition and localization.

Venkatraman Narayanan, Maxim Likhachev

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Planning for grasp selection of partially occluded objects.

Sung-Kyun Kim, Maxim Likhachev

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

A*-Connect: Bounded suboptimal bidirectional heuristic search.

Fahad Islam, Venkatraman Narayanan, Maxim Likhachev

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Planning for a ground-air robotic system with collaborative localization.

Jonathan Butzke, Kalin Gochev, Benjamin Holden, Eui-Jung Jung, Maxim Likhachev

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Search Portfolio with Sharing.

Sandip Aine, Maxim Likhachev

Proceedings of the Twenty-Sixth International Conference on Automated Planning and Scheduling, 2016

Demonstration-Based Training of Non-Player Character Tactical Behaviors.

John Drake, Alla Safonova, Maxim Likhachev

Proceedings of the Twelfth AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment, 2016

2015

CHIMP, the CMU Highly Intelligent Mobile Platform.

Anthony Stentz, Herman Herman, Alonzo Kelly, Eric Meyhofer, G. Clark Haynes, David Stager, Brian Zajac, J. Andrew Bagnell, Jordan Brindza, Christopher M. Dellin, Michael David George, Jose Gonzalez-Mora, Sean Hyde, Morgan Jones, Michel Laverne, Maxim Likhachev, Levi Lister, Matthew Powers, Oscar E. Ramos, Justin Ray, David Rice, Justin Scheifflee, Raumi Sidki, Siddhartha S. Srinivasa, Kyle Strabala, Jean-Philippe Tardif, Jean-Sebastien Valois, Michael Vande Weghe, Michael Wagner, Carl Wellington

J. Field Robotics, 2015

Editorial: special issue on the 2014 "Robotics: Science & Systems" conference.

Lydia E. Kavraki, Maxim Likhachev

Auton. Robots, 2015

Improved Multi-Heuristic A* for Searching with Uncalibrated Heuristics.

Venkatraman Narayanan, Sandip Aine, Maxim Likhachev

Proceedings of the Eighth Annual Symposium on Combinatorial Search, 2015

Learning to Search More Efficiently from Experience: A Multi-Heuristic Approach.

Sandip Aine, Charupriya Sharma, Maxim Likhachev

Proceedings of the Eighth Annual Symposium on Combinatorial Search, 2015

Path planning for a tethered robot using Multi-Heuristic A* with topology-based heuristics.

Soonkyum Kim, Maxim Likhachev

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

3-D exploration with an air-ground robotic system.

Jonathan Butzke, Andrew Dornbush, Maxim Likhachev

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Efficient Search with an Ensemble of Heuristics.

Mike Phillips, Venkatraman Narayanan, Sandip Aine, Maxim Likhachev

Proceedings of the Twenty-Fourth International Joint Conference on Artificial Intelligence, 2015

Planning for multi-agent teams with leader switching.

Siddharth Swaminathan, Mike Phillips, Maxim Likhachev

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

A web-based infrastructure for recording user demonstrations of mobile manipulation tasks.

Ellis Ratner, Benjamin J. Cohen, Mike Phillips, Maxim Likhachev

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Speeding up heuristic computation in planning with Experience Graphs.

Mike Phillips, Maxim Likhachev

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Task-oriented planning for manipulating articulated mechanisms under model uncertainty.

Venkatraman Narayanan, Maxim Likhachev

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Dynamic Multi-Heuristic A*.

Fahad Islam, Venkatraman Narayanan, Maxim Likhachev

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Lazy validation of Experience Graphs.

Victor Hwang, Mike Phillips, Siddhartha S. Srinivasa, Maxim Likhachev

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

2014

Single- and dual-arm motion planning with heuristic search.

Benjamin J. Cohen, Sachin Chitta, Maxim Likhachev

Int. J. Robotics Res., 2014

The Fifth Annual Symposium on Combinatorial Search.

Daniel Borrajo, Ariel Felner, Richard E. Korf, Maxim Likhachev, Carlos Linares López, Wheeler Ruml, Nathan R. Sturtevant

AI Commun., 2014

Anytime Tree-Restoring Weighted A* Graph Search.

Kalin Gochev, Alla Safonova, Maxim Likhachev

Proceedings of the Seventh Annual Symposium on Combinatorial Search, 2014

Stochastic activity authoring with direct user control.

Aline Normoyle, Maxim Likhachev, Alla Safonova

Proceedings of the Symposium on Interactive 3D Graphics and Games, 2014

Planning Single-arm Manipulations with n-Arm Robots.

Benjamin J. Cohen, Mike Phillips, Maxim Likhachev

Proceedings of the Robotics: Science and Systems X, 2014

Robotic handwriting: Multi-contact manipulation based on Reactional Internal Contact Hypothesis.

Sung-Kyun Kim, Joonhee Jo, Yonghwan Oh, Sang-Rok Oh, Siddhartha S. Srinivasa, Maxim Likhachev

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

State lattice with controllers: Augmenting lattice-based path planning with controller-based motion primitives.

Jonathan Butzke, Krishna Sapkota, Kush Prasad, Brian MacAllister, Maxim Likhachev

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Motion planning for smooth pickup of moving objects.

Arjun Menon, Benjamin J. Cohen, Maxim Likhachev

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Motion planning for robotic manipulators with independent wrist joints.

Kalin Gochev, Venkatraman Narayanan, Benjamin J. Cohen, Alla Safonova, Maxim Likhachev

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Prioritized Computation for Numerical Sound Propagation.

John Drake, Maxim Likhachev, Alla Safonova

Proceedings of the 17th International Conference on Digital Audio Effects, 2014

PA*SE: Parallel A* for Slow Expansions.

Mike Phillips, Maxim Likhachev, Sven Koenig

Proceedings of the Twenty-Fourth International Conference on Automated Planning and Scheduling, 2014

2013

Anytime Truncated D* : Anytime Replanning with Truncation.

Sandip Aine, Maxim Likhachev

Proceedings of the Sixth Annual Symposium on Combinatorial Search, 2013

Planning for opportunistic surveillance with multiple robots.

Dinesh Thakur, Maxim Likhachev, James Keller, Vijay Kumar, Vladimir N. Dobrokhodov, Kevin D. Jones, Jeff Wurz, Isaac Kaminer

Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Perception and motion planning for pick-and-place of dynamic objects.

Anthony Cowley, Benjamin J. Cohen, William Marshall, Camillo J. Taylor, Maxim Likhachev

Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Anytime incremental planning with E-Graphs.

Mike Phillips, Andrew Dornbush, Sachin Chitta, Maxim Likhachev

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Planning with approximate preferences and its application to disambiguating human intentions in navigation.

Bradford Neumany, Maxim Likhachev

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Planning under topological constraints using beam-graphs.

Venkatraman Narayanan, Paul Vernaza, Maxim Likhachev, Steven M. LaValle

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Path planning for non-circular micro aerial vehicles in constrained environments.

Brian MacAllister, Jonathan Butzke, Aleksandr Kushleyev, Harsh Pandey, Maxim Likhachev

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

A single planner for a composite task of approaching, opening and navigating through non-spring and spring-loaded doors.

Steven Gray, Sachin Chitta, Vijay Kumar, Maxim Likhachev

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Incremental Planning with Adaptive Dimensionality.

Kalin Gochev, Alla Safonova, Maxim Likhachev

Proceedings of the Twenty-Third International Conference on Automated Planning and Scheduling, 2013

Truncated Incremental Search: Faster Replanning by Exploiting Suboptimality.

Sandip Aine, Maxim Likhachev

Proceedings of the Twenty-Seventh AAAI Conference on Artificial Intelligence, 2013

2012

The University of Pennsylvania MAGIC 2010 multi-robot unmanned vehicle system.

Jonathan Butzke, Kostas Daniilidis, Aleksandr Kushleyev, Daniel D. Lee, Maxim Likhachev, Cody J. Phillips, Mike Phillips

J. Field Robotics, 2012

Topological constraints in search-based robot path planning.

Subhrajit Bhattacharya, Maxim Likhachev, Vijay Kumar

Auton. Robots, 2012

The Symposium on Combinatorial Search.

Daniel Borrajo, Maxim Likhachev, Carlos Linares López

AI Commun., 2012

Efficiently Finding Optimal Winding-Constrained Loops in the Plane: Extended Abstract.

Paul Vernaza, Venkatraman Narayanan, Maxim Likhachev

Proceedings of the Fifth Annual Symposium on Combinatorial Search, 2012

E-Graphs: Bootstrapping Planning with Experience Graphs.

Mike Phillips, Benjamin J. Cohen, Sachin Chitta, Maxim Likhachev

Proceedings of the Fifth Annual Symposium on Combinatorial Search, 2012

Efficiently finding optimal winding-constrained loops in the plane.

Paul Vernaza, Venkatraman Narayanan, Maxim Likhachev

Proceedings of the Robotics: Science and Systems VIII, 2012

E-Graphs: Bootstrapping Planning with Experience Graphs.

Michael Phillips, Benjamin J. Cohen, Sachin Chitta, Maxim Likhachev

Proceedings of the Robotics: Science and Systems VIII, 2012

Anytime Safe Interval Path Planning for dynamic environments.

Venkatraman Narayanan, Mike Phillips, Maxim Likhachev

Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Combining global and local planning with guarantees on completeness.

Haojie Zhang, Jonathan Butzke, Maxim Likhachev

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Navigation in three-dimensional cluttered environments for mobile manipulation.

Armin Hornung, Mike Phillips, Edward Gil Jones, Maren Bennewitz, Maxim Likhachev, Sachin Chitta

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Using state dominance for path planning in dynamic environments with moving obstacles.

Juan Pablo Gonzalez, Andrew Dornbush, Maxim Likhachev

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Planning with adaptive dimensionality for mobile manipulation.

Kalin Gochev, Alla Safonova, Maxim Likhachev

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Search-based planning for dual-arm manipulation with upright orientation constraints.

Benjamin J. Cohen, Sachin Chitta, Maxim Likhachev

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Anytime search-based footstep planning with suboptimality bounds.

Armin Hornung, Andrew Dornbush, Maxim Likhachev, Maren Bennewitz

Proceedings of the 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, November 29, 2012

Game-Based Data Capture for Player Metrics.

Aline Normoyle, John Drake, Maxim Likhachev, Alla Safonova

Proceedings of the Eighth AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment, 2012

Heuristic Search Comes of Age.

Nathan R. Sturtevant, Ariel Felner, Maxim Likhachev, Wheeler Ruml

Proceedings of the Twenty-Sixth AAAI Conference on Artificial Intelligence, 2012

Search-Based Path Planning with Homotopy Class Constraints in 3D.

Subhrajit Bhattacharya, Maxim Likhachev, Vijay Kumar

Proceedings of the Twenty-Sixth AAAI Conference on Artificial Intelligence, 2012

2011

Search-Based Planning with Provable Suboptimality Bounds for Continuous State Spaces.

Juan Pablo Gonzalez, Maxim Likhachev

Proceedings of the Fourth Annual Symposium on Combinatorial Search, 2011

Path Planning with Adaptive Dimensionality.

Kalin Gochev, Benjamin J. Cohen, Jonathan Butzke, Alla Safonova, Maxim Likhachev

Proceedings of the Fourth Annual Symposium on Combinatorial Search, 2011

Identification and Representation of Homotopy Classes of Trajectories for Search-based Path Planning in 3D.

Subhrajit Bhattacharya, Maxim Likhachev, Vijay Kumar

Proceedings of the Robotics: Science and Systems VII, 2011

Planning for landing site selection in the aerial supply delivery.

Aleksandr Kushleyev, Brian MacAllister, Maxim Likhachev

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Planning for multi-robot exploration with multiple objective utility functions.

Jonathan Butzke, Maxim Likhachev

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Cart pushing with a mobile manipulation system: Towards navigation with moveable objects.

Jonathan Scholz, Sachin Chitta, Bhaskara Marthi, Maxim Likhachev

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

SIPP: Safe interval path planning for dynamic environments.

Mike Phillips, Maxim Likhachev

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Planning for Manipulation with Adaptive Motion Primitives.

Benjamin J. Cohen, Gokul Subramania, Sachin Chitta, Maxim Likhachev

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Multi-hypothesis motion planning for visual object tracking.

Haifeng Gong, Jack Sim, Maxim Likhachev, Jianbo Shi

Proceedings of the IEEE International Conference on Computer Vision, 2011

Planning in Domains with Cost Function Dependent Actions.

Mike Phillips, Maxim Likhachev

Proceedings of the Twenty-Fifth AAAI Conference on Artificial Intelligence, 2011

2010

Search-Based Path Planning with Homotopy Class Constraints.

Subhrajit Bhattacharya, Vijay Kumar, Maxim Likhachev

Proceedings of the Third Annual Symposium on Combinatorial Search, 2010

Distributed Optimization with Pairwise Constraints and its Application to Multi-robot Path Planning.

Subhrajit Bhattacharya, Vijay Kumar, Maxim Likhachev

Proceedings of the Robotics: Science and Systems VI, 2010

High-dimensional planning on the GPU.

Joseph T. Kider Jr., Mark Henderson, Maxim Likhachev, Alla Safonova

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Search-based planning for manipulation with motion primitives.

Benjamin J. Cohen, Sachin Chitta, Maxim Likhachev

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Planning for autonomous door opening with a mobile manipulator.

Sachin Chitta, Benjamin J. Cohen, Maxim Likhachev

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Multi-agent path planning with multiple tasks and distance constraints.

Subhrajit Bhattacharya, Maxim Likhachev, Vijay Kumar

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

2009

Path Clearance.

Maxim Likhachev, Anthony Stentz

IEEE Robotics Autom. Mag., 2009

Planning Long Dynamically Feasible Maneuvers for Autonomous Vehicles.

Maxim Likhachev, Dave Ferguson

Int. J. Robotics Res., 2009

Probabilistic planning with clear preferences on missing information.

Maxim Likhachev, Anthony Stentz

Artif. Intell., 2009

Efficient cost computation in cost map planning for non-circular robots.

Jennifer E. King, Maxim Likhachev

Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

Incremental Phi*: Incremental Any-Angle Path Planning on Grids.

Alex Nash, Sven Koenig, Maxim Likhachev

Proceedings of the IJCAI 2009, 2009

Search-based planning for a legged robot over rough terrain.

Paul Vernaza, Maxim Likhachev, Subhrajit Bhattacharya, Sachin Chitta, Aleksandr Kushleyev, Daniel D. Lee

Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Time-bounded lattice for efficient planning in dynamic environments.

Aleksandr Kushleyev, Maxim Likhachev

Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

2008

Autonomous driving in urban environments: Boss and the Urban Challenge.

Chris Urmson, Joshua Anhalt, Drew Bagnell, Christopher R. Baker, Robert Bittner, M. N. Clark, John M. Dolan, Dave Duggins, Tugrul Galatali, Christopher Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert, Thomas M. Howard, Sascha Kolski, Alonzo Kelly, Maxim Likhachev, Matthew McNaughton, Nick Miller, Kevin M. Peterson, Brian Pilnick, Raj Rajkumar, Paul E. Rybski, Bryan Salesky, Young-Woo Seo, Sanjiv Singh, Jarrod M. Snider, Anthony Stentz, William Whittaker, Ziv Wolkowicki, Jason Ziglar, Hong Bae, Thomas Brown, Daniel Demitrish, Bakhtiar Litkouhi, Jim Nickolaou, Varsha Sadekar, Wende Zhang, Joshua Struble, Michael Taylor, Michael Darms, Dave Ferguson

J. Field Robotics, 2008

Motion planning in urban environments.

Dave Ferguson, Thomas M. Howard, Maxim Likhachev

J. Field Robotics, 2008

Anytime search in dynamic graphs.

Maxim Likhachev, Dave Ferguson, Geoffrey J. Gordon, Anthony Stentz, Sebastian Thrun

Artif. Intell., 2008

Motion planning in urban environments: Part II.

Dave Ferguson, Thomas M. Howard, Maxim Likhachev

Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

Motion planning in urban environments: Part I.

Dave Ferguson, Thomas M. Howard, Maxim Likhachev

Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

Information value-driven approach to path clearance with multiple scout robots.

Maxim Likhachev, Anthony Stentz

Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

R* Search.

Maxim Likhachev, Anthony Stentz

Proceedings of the Twenty-Third AAAI Conference on Artificial Intelligence, 2008

2007

Goal directed navigation with uncertainty in adversary locations.

Maxim Likhachev, Anthony Stentz

Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29, 2007

Speeding up moving-target search.

Sven Koenig, Maxim Likhachev, Xiaoxun Sun

Proceedings of the 6th International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS 2007), 2007

2006

Real-time adaptive A*.

Sven Koenig, Maxim Likhachev

Proceedings of the 5th International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS 2006), 2006

A New Principle for Incremental Heuristic Search: Theoretical Results.

Sven Koenig, Maxim Likhachev

Proceedings of the Sixteenth International Conference on Automated Planning and Scheduling, 2006

Incremental Heuristic Search in Games: The Quest for Speed.

Maxim Likhachev, Sven Koenig

Proceedings of the Second Artificial Intelligence and Interactive Digital Entertainment Conference, 2006

PPCP: Efficient Probabilistic Planning with Clear Preferences in Partially-Known Environments.

Maxim Likhachev, Anthony Stentz

Proceedings of the Proceedings, 2006

2005

Fast replanning for navigation in unknown terrain.

Sven Koenig, Maxim Likhachev

IEEE Trans. Robotics, 2005

Bounded real-time dynamic programming: RTDP with monotone upper bounds and performance guarantees.

H. Brendan McMahan, Maxim Likhachev, Geoffrey J. Gordon

Proceedings of the Machine Learning, 2005

Adaptive A.

Sven Koenig, Maxim Likhachev

Proceedings of the 4th International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS 2005), 2005

A Generalized Framework for Lifelong Planning A* Search.

Maxim Likhachev, Sven Koenig

Proceedings of the Fifteenth International Conference on Automated Planning and Scheduling (ICAPS 2005), 2005

Anytime Dynamic A*: An Anytime, Replanning Algorithm.

Maxim Likhachev, David I. Ferguson, Geoffrey J. Gordon, Anthony Stentz, Sebastian Thrun

Proceedings of the Fifteenth International Conference on Automated Planning and Scheduling (ICAPS 2005), 2005

2004

Incremental Heuristic Search in AI.

Sven Koenig, Maxim Likhachev, Yaxin Liu, David Furcy

AI Mag., 2004

Lifelong Planning A.

Sven Koenig, Maxim Likhachev, David Furcy

Artif. Intell., 2004

Planning for Markov Decision Processes with Sparse Stochasticity.

Maxim Likhachev, Geoffrey J. Gordon, Sebastian Thrun

Proceedings of the Advances in Neural Information Processing Systems 17 [Neural Information Processing Systems, 2004

2003

ARA*: Anytime A* with Provable Bounds on Sub-Optimality.

Maxim Likhachev, Geoffrey J. Gordon, Sebastian Thrun

Proceedings of the Advances in Neural Information Processing Systems 16 [Neural Information Processing Systems, 2003

2002

Speeding up the Parti-Game Algorithm.

Maxim Likhachev, Sven Koenig

Proceedings of the Advances in Neural Information Processing Systems 15 [Neural Information Processing Systems, 2002

Incremental replanning for mapping.

Maxim Likhachev, Sven Koenig

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30, 2002

Learning Behavioral Parameterization using Spatio-Temporal Case-Based Reasoning.

Maxim Likhachev, Michael Kaess, Ronald C. Arkin

Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Selection of Behavioral Parameters: Integration of Discontinuous Switching via Case-Based Reasoning with Continuous Adaptation via Learning Momentum.

J. Brian Lee, Maxim Likhachev, Ronald C. Arkin

Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Improved Fast Replanning for Robot Navigation in Unknown Terrain.

Sven Koenig, Maxim Likhachev

Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

D*Lite.

Sven Koenig, Maxim Likhachev

Proceedings of the Eighteenth National Conference on Artificial Intelligence and Fourteenth Conference on Innovative Applications of Artificial Intelligence, July 28, 2002

2001

Incremental A*.

Sven Koenig, Maxim Likhachev

Proceedings of the Advances in Neural Information Processing Systems 14 [Neural Information Processing Systems: Natural and Synthetic, 2001

Spatio-Temporal Case-Based Reasoning for Behavioral Selection.

Maxim Likhachev, Ronald C. Arkin

Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 2001

Lifelong Planning for Mobile Robots.

Maxim Likhachev, Sven Koenig

Proceedings of the Advances in Plan-Based Control of Robotic Agents, 2001