Lifelong Planning for Mobile Robots. - Maxim Likhachev; Sven Koenig (Advances in Plan-Based Control of Robotic Agents, 2001)

Spatio-Temporal Case-Based Reasoning for Behavioral Selection. - Maxim Likhachev; Ronald C. Arkin (ICRA, 2001)

Incremental A*. - Sven Koenig; Maxim Likhachev (NIPS, 2001)

D*Lite. - Sven Koenig; Maxim Likhachev (AAAI/IAAI, 2002)

Improved Fast Replanning for Robot Navigation in Unknown Terrain. - Sven Koenig; Maxim Likhachev (ICRA, 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 (ICRA, 2002)

Learning Behavioral Parameterization using Spatio-Temporal Case-Based Reasoning. - Maxim Likhachev; Michael Kaess; Ronald C. Arkin (ICRA, 2002)

Incremental replanning for mapping. - Maxim Likhachev; Sven Koenig (IROS, 2002)

Speeding up the Parti-Game Algorithm. - Maxim Likhachev; Sven Koenig (NIPS, 2002)

ARA*: Anytime A* with Provable Bounds on Sub-Optimality. - Maxim Likhachev; Geoffrey J. Gordon; Sebastian Thrun (NIPS, 2003)

Planning for Markov Decision Processes with Sparse Stochasticity. - Maxim Likhachev; Geoffrey J. Gordon; Sebastian Thrun (NIPS, 2004)

Lifelong Planning A. - Sven Koenig; Maxim Likhachev; David Furcy (Artif. Intell., 2004)

Incremental Heuristic Search in AI. - Sven Koenig; Maxim Likhachev; Yaxin Liu; David Furcy (AI Mag., 2004)

Anytime Dynamic A*: An Anytime, Replanning Algorithm. - Maxim Likhachev; David I. Ferguson; Geoffrey J. Gordon; Anthony Stentz; Sebastian Thrun (ICAPS, 2005)

A Generalized Framework for Lifelong Planning A* Search. - Maxim Likhachev; Sven Koenig (ICAPS, 2005)

Adaptive A. - Sven Koenig; Maxim Likhachev (AAMAS, 2005)

Bounded real-time dynamic programming: RTDP with monotone upper bounds and performance guarantees. - H. Brendan McMahan; Maxim Likhachev; Geoffrey J. Gordon (ICML, 2005)

Fast replanning for navigation in unknown terrain. - Sven Koenig; Maxim Likhachev (IEEE Trans. Robotics, 2005)

PPCP: Efficient Probabilistic Planning with Clear Preferences in Partially-Known Environments. - Maxim Likhachev; Anthony Stentz (AAAI, 2006)

Incremental Heuristic Search in Games: The Quest for Speed. - Maxim Likhachev; Sven Koenig (AIIDE, 2006)

A New Principle for Incremental Heuristic Search: Theoretical Results. - Sven Koenig; Maxim Likhachev (ICAPS, 2006)

Real-time adaptive A*. - Sven Koenig; Maxim Likhachev (AAMAS, 2006)

Speeding up moving-target search. - Sven Koenig; Maxim Likhachev; Xiaoxun Sun (AAMAS, 2007)

Goal directed navigation with uncertainty in adversary locations. - Maxim Likhachev; Anthony Stentz (IROS, 2007)

R* Search. - Maxim Likhachev; Anthony Stentz (AAAI, 2008)

Information value-driven approach to path clearance with multiple scout robots. - Maxim Likhachev; Anthony Stentz (ICRA, 2008)

Motion planning in urban environments: Part I. - Dave Ferguson 001; Thomas M. Howard; Maxim Likhachev (IROS, 2008)

Motion planning in urban environments: Part II. - Dave Ferguson 001; Thomas M. Howard; Maxim Likhachev (IROS, 2008)

Anytime search in dynamic graphs. - Maxim Likhachev; Dave Ferguson 001; Geoffrey J. Gordon; Anthony Stentz; Sebastian Thrun (Artif. Intell., 2008)

Motion planning in urban environments. - Dave Ferguson 001; Thomas M. Howard; Maxim Likhachev (J. Field Robotics, 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; et al. (J. Field Robotics, 2008)

Time-bounded lattice for efficient planning in dynamic environments. - Aleksandr Kushleyev; Maxim Likhachev (ICRA, 2009)

Search-based planning for a legged robot over rough terrain. - Paul Vernaza; Maxim Likhachev; Subhrajit Bhattacharya; Sachin Chitta; Aleksandr Kushleyev; Daniel D. Lee (ICRA, 2009)

Incremental Phi*: Incremental Any-Angle Path Planning on Grids. - Alex Nash; Sven Koenig; Maxim Likhachev (IJCAI, 2009)

Efficient cost computation in cost map planning for non-circular robots. - Jennifer E. King; Maxim Likhachev (IROS, 2009)

Probabilistic planning with clear preferences on missing information. - Maxim Likhachev; Anthony Stentz (Artif. Intell., 2009)

Planning Long Dynamically Feasible Maneuvers for Autonomous Vehicles. - Maxim Likhachev; Dave Ferguson 001 (Int. J. Robotics Res., 2009)

Path Clearance. - Maxim Likhachev; Anthony Stentz (IEEE Robotics Autom. Mag., 2009)

Multi-agent path planning with multiple tasks and distance constraints. - Subhrajit Bhattacharya; Maxim Likhachev; Vijay Kumar 001 (ICRA, 2010)

Planning for autonomous door opening with a mobile manipulator. - Sachin Chitta; Benjamin J. Cohen; Maxim Likhachev (ICRA, 2010)

Search-based planning for manipulation with motion primitives. - Benjamin J. Cohen; Sachin Chitta; Maxim Likhachev (ICRA, 2010)

High-dimensional planning on the GPU. - Joseph T. Kider Jr.; Mark Henderson; Maxim Likhachev; Alla Safonova (ICRA, 2010)

Distributed Optimization with Pairwise Constraints and its Application to Multi-robot Path Planning. - Subhrajit Bhattacharya; Vijay Kumar 001; Maxim Likhachev (Robotics: Science and Systems, 2010)

Search-Based Path Planning with Homotopy Class Constraints. - Subhrajit Bhattacharya; Vijay Kumar 001; Maxim Likhachev (SOCS, 2010)

Planning in Domains with Cost Function Dependent Actions. - Mike Phillips; Maxim Likhachev (AAAI, 2011)

Multi-hypothesis motion planning for visual object tracking. - Haifeng Gong; Jack Sim; Maxim Likhachev; Jianbo Shi (ICCV, 2011)

Planning for Manipulation with Adaptive Motion Primitives. - Benjamin J. Cohen; Gokul Subramania; Sachin Chitta; Maxim Likhachev (ICRA, 2011)

SIPP: Safe interval path planning for dynamic environments. - Mike Phillips; Maxim Likhachev (ICRA, 2011)

Cart pushing with a mobile manipulation system: Towards navigation with moveable objects. - Jonathan Scholz; Sachin Chitta; Bhaskara Marthi; Maxim Likhachev (ICRA, 2011)

Planning for multi-robot exploration with multiple objective utility functions. - Jonathan Butzke; Maxim Likhachev (IROS, 2011)

Planning for landing site selection in the aerial supply delivery. - Aleksandr Kushleyev; Brian MacAllister; Maxim Likhachev (IROS, 2011)

Identification and Representation of Homotopy Classes of Trajectories for Search-based Path Planning in 3D. - Subhrajit Bhattacharya; Maxim Likhachev; Vijay Kumar 001 (Robotics: Science and Systems, 2011)

Path Planning with Adaptive Dimensionality. - Kalin Gochev; Benjamin J. Cohen; Jonathan Butzke; Alla Safonova; Maxim Likhachev (SOCS, 2011)

Search-Based Planning with Provable Suboptimality Bounds for Continuous State Spaces. - Juan Pablo Gonzalez; Maxim Likhachev (SOCS, 2011)

Search-Based Path Planning with Homotopy Class Constraints in 3D. - Subhrajit Bhattacharya; Maxim Likhachev; Vijay Kumar 001 (AAAI, 2012)

Heuristic Search Comes of Age. - Nathan R. Sturtevant; Ariel Felner; Maxim Likhachev; Wheeler Ruml (AAAI, 2012)

Game-Based Data Capture for Player Metrics. - Aline Normoyle; John Drake; Maxim Likhachev; Alla Safonova (AIIDE, 2012)

Anytime search-based footstep planning with suboptimality bounds. - Armin Hornung; Andrew Dornbush; Maxim Likhachev; Maren Bennewitz (Humanoids, 2012)

Search-based planning for dual-arm manipulation with upright orientation constraints. - Benjamin J. Cohen; Sachin Chitta; Maxim Likhachev (ICRA, 2012)

Planning with adaptive dimensionality for mobile manipulation. - Kalin Gochev; Alla Safonova; Maxim Likhachev (ICRA, 2012)

Using state dominance for path planning in dynamic environments with moving obstacles. - Juan Pablo Gonzalez; Andrew Dornbush; Maxim Likhachev (ICRA, 2012)

Navigation in three-dimensional cluttered environments for mobile manipulation. - Armin Hornung; Mike Phillips; Edward Gil Jones; Maren Bennewitz; Maxim Likhachev; Sachin Chitta (ICRA, 2012)

Combining global and local planning with guarantees on completeness. - Haojie Zhang; Jonathan Butzke; Maxim Likhachev (ICRA, 2012)

Anytime Safe Interval Path Planning for dynamic environments. - Venkatraman Narayanan; Mike Phillips; Maxim Likhachev (IROS, 2012)

E-Graphs: Bootstrapping Planning with Experience Graphs. - Michael Phillips; Benjamin J. Cohen; Sachin Chitta; Maxim Likhachev (Robotics: Science and Systems, 2012)

Efficiently finding optimal winding-constrained loops in the plane. - Paul Vernaza; Venkatraman Narayanan; Maxim Likhachev (Robotics: Science and Systems, 2012)

E-Graphs: Bootstrapping Planning with Experience Graphs. - Mike Phillips; Benjamin J. Cohen; Sachin Chitta; Maxim Likhachev (SOCS, 2012)

Efficiently Finding Optimal Winding-Constrained Loops in the Plane: Extended Abstract. - Paul Vernaza; Venkatraman Narayanan; Maxim Likhachev (SOCS, 2012)

The Symposium on Combinatorial Search. - Daniel Borrajo; Maxim Likhachev; Carlos Linares López (AI Commun., 2012)

Topological constraints in search-based robot path planning. - Subhrajit Bhattacharya; Maxim Likhachev; Vijay Kumar 001 (Auton. Robots, 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 001; Mike Phillips (J. Field Robotics, 2012)

Truncated Incremental Search: Faster Replanning by Exploiting Suboptimality. - Sandip Aine; Maxim Likhachev (AAAI, 2013)

Incremental Planning with Adaptive Dimensionality. - Kalin Gochev; Alla Safonova; Maxim Likhachev (ICAPS, 2013)

A single planner for a composite task of approaching, opening and navigating through non-spring and spring-loaded doors. - Steven Gray 003; Sachin Chitta; Vijay Kumar 001; Maxim Likhachev (ICRA, 2013)

Path planning for non-circular micro aerial vehicles in constrained environments. - Brian MacAllister; Jonathan Butzke; Aleksandr Kushleyev; Harsh Pandey; Maxim Likhachev (ICRA, 2013)

Planning under topological constraints using beam-graphs. - Venkatraman Narayanan; Paul Vernaza; Maxim Likhachev; Steven M. LaValle (ICRA, 2013)

Planning with approximate preferences and its application to disambiguating human intentions in navigation. - Bradford Neuman; Maxim Likhachev (ICRA, 2013)

Anytime incremental planning with E-Graphs. - Mike Phillips; Andrew Dornbush; Sachin Chitta; Maxim Likhachev (ICRA, 2013)

Perception and motion planning for pick-and-place of dynamic objects. - Anthony Cowley; Benjamin J. Cohen; William Marshall; Camillo J. Taylor; Maxim Likhachev (IROS, 2013)

Planning for opportunistic surveillance with multiple robots. - Dinesh Thakur; Maxim Likhachev; James Keller 002; Vijay Kumar 001; Vladimir N. Dobrokhodov; Kevin D. Jones; Jeff Wurz; Isaac Kaminer (IROS, 2013)

Anytime Truncated D* : Anytime Replanning with Truncation. - Sandip Aine; Maxim Likhachev (SOCS, 2013)

PA*SE: Parallel A* for Slow Expansions. - Mike Phillips; Maxim Likhachev; Sven Koenig (ICAPS, 2014)

Prioritized Computation for Numerical Sound Propagation. - John Drake; Maxim Likhachev; Alla Safonova (DAFx, 2014)

Motion planning for robotic manipulators with independent wrist joints. - Kalin Gochev; Venkatraman Narayanan; Benjamin J. Cohen; Alla Safonova; Maxim Likhachev (ICRA, 2014)

Motion planning for smooth pickup of moving objects. - Arjun Menon; Benjamin J. Cohen; Maxim Likhachev (ICRA, 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 (IROS, 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 (IROS, 2014)

Stochastic activity authoring with direct user control. - Aline Normoyle; Maxim Likhachev; Alla Safonova (I3D, 2014)

Anytime Tree-Restoring Weighted A* Graph Search. - Kalin Gochev; Alla Safonova; Maxim Likhachev (SOCS, 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)

Single- and dual-arm motion planning with heuristic search. - Benjamin J. Cohen; Sachin Chitta; Maxim Likhachev (Int. J. Robotics Res., 2014)

Lazy validation of Experience Graphs. - Victor Hwang; Mike Phillips; Siddhartha S. Srinivasa; Maxim Likhachev (ICRA, 2015)

Dynamic Multi-Heuristic A*. - Fahad Islam; Venkatraman Narayanan; Maxim Likhachev (ICRA, 2015)

Task-oriented planning for manipulating articulated mechanisms under model uncertainty. - Venkatraman Narayanan; Maxim Likhachev (ICRA, 2015)

Speeding up heuristic computation in planning with Experience Graphs. - Mike Phillips; Maxim Likhachev (ICRA, 2015)

A web-based infrastructure for recording user demonstrations of mobile manipulation tasks. - Ellis Ratner; Benjamin J. Cohen; Mike Phillips; Maxim Likhachev (ICRA, 2015)

Planning for multi-agent teams with leader switching. - Siddharth Swaminathan; Mike Phillips; Maxim Likhachev (ICRA, 2015)

Efficient Search with an Ensemble of Heuristics. - Mike Phillips; Venkatraman Narayanan; Sandip Aine; Maxim Likhachev (IJCAI, 2015)

3-D exploration with an air-ground robotic system. - Jonathan Butzke; Andrew Dornbush; Maxim Likhachev (IROS, 2015)

Path planning for a tethered robot using Multi-Heuristic A* with topology-based heuristics. - Soonkyum Kim; Maxim Likhachev (IROS, 2015)

Learning to Search More Efficiently from Experience: A Multi-Heuristic Approach. - Sandip Aine; Charupriya Sharma; Maxim Likhachev (SOCS, 2015)

Planning Single-Arm Manipulations with N-Arm Robots. - Benjamin J. Cohen; Mike Phillips; Maxim Likhachev (SOCS, 2015)

Improved Multi-Heuristic A* for Searching with Uncalibrated Heuristics. - Venkatraman Narayanan; Sandip Aine; Maxim Likhachev (SOCS, 2015)

Editorial: special issue on the 2014 "Robotics: Science & Systems" conference. - Lydia E. Kavraki; Maxim Likhachev (Auton. Robots, 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; et al. (J. Field Robotics, 2015)

Demonstration-Based Training of Non-Player Character Tactical Behaviors. - John Drake; Alla Safonova; Maxim Likhachev (AIIDE, 2016)

Search Portfolio with Sharing. - Sandip Aine; Maxim Likhachev (ICAPS, 2016)

Planning for a ground-air robotic system with collaborative localization. - Jonathan Butzke; Kalin Gochev; Benjamin Holden; Eui-Jung Jung; Maxim Likhachev (ICRA, 2016)

A*-Connect: Bounded suboptimal bidirectional heuristic search. - Fahad Islam; Venkatraman Narayanan; Maxim Likhachev (ICRA, 2016)

Planning for grasp selection of partially occluded objects. - Sung-Kyun Kim; Maxim Likhachev (ICRA, 2016)

PERCH: Perception via search for multi-object recognition and localization. - Venkatraman Narayanan; Maxim Likhachev (ICRA, 2016)

Discriminatively-guided Deliberative Perception for Pose Estimation of Multiple 3D Object Instances. - Venkatraman Narayanan; Maxim Likhachev (Robotics: Science and Systems, 2016)

Truncated incremental search. - Sandip Aine; Maxim Likhachev (Artif. Intell., 2016)

Robot Planning in the Real World: Research Challenges and Opportunities. - Ron Alterovitz; Sven Koenig; Maxim Likhachev (AI Mag., 2016)

Learning to plan for constrained manipulation from demonstrations. - Mike Phillips; Victor Hwang; Sachin Chitta; Maxim Likhachev (Auton. Robots, 2016)

Multi-Heuristic A. - Sandip Aine; Siddharth Swaminathan; Venkatraman Narayanan; Victor Hwang; Maxim Likhachev (Int. J. Robotics Res., 2016)

Towards Adaptability of Demonstration-Based Training of NPC Behavior. - John Drake; Alla Safonova; Maxim Likhachev (AIIDE, 2017)

Heuristic Search on Graphs with Existence Priors for Expensive-to-Evaluate Edges. - Venkatraman Narayanan; Maxim Likhachev (ICAPS, 2017)

Learning to Avoid Local Minima in Planning for Static Environments. - Shivam Vats; Venkatraman Narayanan; Maxim Likhachev (ICAPS, 2017)

Parts assembly planning under uncertainty with simulation-aided physical reasoning. - Sung-Kyun Kim; Maxim Likhachev (ICRA, 2017)

Deliberative object pose estimation in clutter. - Venkatraman Narayanan; Maxim Likhachev (ICRA, 2017)

Search Reduction through Conservative Abstract-Space Based Heuristic. - Ishani Chatterjee 001; Maxim Likhachev; Manuela M. Veloso (SOCS, 2017)

Coordinated Path Planning for Fixed-Wing UAS Conducting Persistent Surveillance Missions. - James Keller 002; Dinesh Thakur; Maxim Likhachev; Jean Gallier; Vijay Kumar 001 (IEEE Trans Autom. Sci. Eng., 2017)

Effective Footstep Planning for Humanoids Using Homotopy-Class Guidance. - Vinitha Ranganeni; Oren Salzman; Maxim Likhachev (ICAPS, 2018)

A Single-Planner Approach to Multi-Modal Humanoid Mobility. - Andrew Dornbush; Karthik Vijayakumar; Sameer Bardapurkar; Fahad Islam; Masayuki Ito; Maxim Likhachev (ICRA, 2018)

Online, Interactive User Guidance for High-dimensional, Constrained Motion Planning. - Fahad Islam; Oren Salzman; Maxim Likhachev (IJCAI, 2018)

FOCS: Planning by Fusion of Optimal Control & Search and its Application to Navigation. - Piero Micelli; Maxim Likhachev (IROS, 2018)

Motion Planning for an Underwater Mobile Manipulator by Exploiting Loose Coupling. - Dina Youakim; Andrew Dornbush; Maxim Likhachev; Pere Ridao (IROS, 2018)

A Single-Planner Approach to Multi-Modal Humanoid Mobility. - Andrew Dornbush; Karthik Vijayakumar; Sameer Bardapurkar; Fahad Islam; Maxim Likhachev (CoRR, 2018)

Speeding Up Search-Based Motion Planning via Conservative Heuristics. - Ishani Chatterjee 001; Maxim Likhachev; Ashwin Khadke; Manuela Veloso (ICAPS, 2019)

Provable Indefinite-Horizon Real-Time Planning for Repetitive Tasks. - Fahad Islam; Oren Salzman; Maxim Likhachev (ICAPS, 2019)

POMHDP: Search-Based Belief Space Planning Using Multiple Heuristics. - Sung-Kyun Kim; Oren Salzman; Maxim Likhachev (ICAPS, 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 (FSR, 2019)

Bidirectional Heuristic Search for Motion Planning with an Extend Operator. - Allen Cheng; Dhruv Mauria Saxena; Maxim Likhachev (IROS, 2019)

Escaping Local Minima in Search-Based Planning using Soft Duplicate Detection. - Wei Du; Sung-Kyun Kim; Oren Salzman; Maxim Likhachev (IROS, 2019)

Intuitive, Reliable Plans with Contingencies: Planning with Safety Nets for Landmark-Based Routing. - Kalyan Vasudev Alwala; Margarita Safonova; Oren Salzman; Maxim Likhachev (SOCS, 2019)

A-MHA*: Anytime Multi-Heuristic A. - Ramkumar Natarajan; Muhammad Suhail Saleem; Sandip Aine; Maxim Likhachev; Howie Choset (SOCS, 2019)

Provable Infinite-Horizon Real-Time Planning for Repetitive Tasks. - Fahad Islam; Oren Salzman; Maxim Likhachev (CoRR, 2019)

Efficient Robot Planning for Achieving Multiple Independent Partially Observable Tasks That Evolve over Time. - Anahita Mohseni-Kabir; Manuela Veloso; Maxim Likhachev (ICAPS, 2020)

Planning, Learning and Reasoning Framework for Robot Truck Unloading. - Fahad Islam; Anirudh Vemula; Sung-Kyun Kim; Andrew Dornbush; Oren Salzman; Maxim Likhachev (ICRA, 2020)

Cooperative Perception and Localization for Cooperative Driving. - Aaron Miller; Kyungzun Rim; Parth Chopra; Paritosh Kelkar; Maxim Likhachev (ICRA, 2020)

Planning with Selective Physics-based Simulation for Manipulation Among Movable Objects. - Muhammad Suhail Saleem; Maxim Likhachev (ICRA, 2020)

Driving in Dense Traffic with Model-Free Reinforcement Learning. - Dhruv Mauria Saxena; Sangjae Bae; Alireza Nakhaei; Kikuo Fujimura; Maxim Likhachev (ICRA, 2020)

PERCH 2.0 : Fast and Accurate GPU-based Perception via Search for Object Pose Estimation. - Aditya Agarwal; Yupeng Han; Maxim Likhachev (IROS, 2020)

Learning to Use Adaptive Motion Primitives in Search-Based Planning for Navigation. - Raghav Sood; Shivam Vats; Maxim Likhachev (IROS, 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 (Robotics: Science and Systems, 2020)

Planning and Execution using Inaccurate Models with Provable Guarantees. - Anirudh Vemula; Yash Oza; J. Andrew Bagnell; Maxim Likhachev (Robotics: Science and Systems, 2020)

Multi-Resolution A. - Wei Du; Fahad Islam; Maxim Likhachev (SOCS, 2020)

Effective footstep planning using homotopy-class guidance. - Vinitha Ranganeni; Sahit Chintalapudi; Oren Salzman; Maxim Likhachev (Artif. Intell., 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)

Sim-to-Real Task Planning and Execution from Perception via Reactivity and Recovery. - Shohin Mukherjee; Chris Paxton 001; Arsalan Mousavian; Adam Fishman; Maxim Likhachev; Dieter Fox (CoRR, 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)

CMAX++ : Leveraging Experience in Planning and Execution using Inaccurate Models. - Anirudh Vemula; J. Andrew Bagnell; Maxim Likhachev (AAAI, 2021)

Speeding Up Search-Based Motion Planning using Expansion Delay Heuristics. - Jasmeet Kaur; Ishani Chatterjee 001; Maxim Likhachev (ICAPS, 2021)

Alternative Paths Planner (APP) for Provably Fixed-time Manipulation Planning in Semi-structured Environments. - Fahad Islam; Chris Paxton 001; Clemens Eppner; Bryan Peele; Maxim Likhachev; Dieter Fox (ICRA, 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 (ICRA, 2021)

Search-based Planning for Active Sensing in Goal-Directed Coverage Tasks. - Tushar Kusnur; Dhruv Mauria Saxena; Maxim Likhachev (ICRA, 2021)

Manipulation Planning Among Movable Obstacles Using Physics-Based Adaptive Motion Primitives. - Dhruv Mauria Saxena; Muhammad Suhail Saleem; Maxim Likhachev (ICRA, 2021)

Search-based Planning with Learned Behaviors for Navigation among Pedestrians. - Ishani Chatterjee 001; Yash Oza; Maxim Likhachev; Manuela Veloso (IROS, 2021)

Disruption-Limited Planning for Robot Navigation in Dynamic Environments. - Sandip Aine; Yash Oza; Maxim Likhachev (IROS, 2021)

Reactive Long Horizon Task Execution via Visual Skill and Precondition Models. - Shohin Mukherjee; Chris Paxton 001; Arsalan Mousavian; Adam Fishman; Maxim Likhachev; Dieter Fox (IROS, 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 (IROS, 2021)

Fast Bounded Suboptimal Probabilistic Planning with Clear Preferences on Missing Information. - Ishani Chatterjee 001; Tushar Kusnur; Maxim Likhachev (SOCS, 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)

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)

Waiting Tables as a Robot Planning Problem. - Anahita Mohseni-Kabir; Manuela Veloso; Maxim Likhachev (CoRR, 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)

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)

Interleaving Graph Search and Trajectory Optimization for Aggressive Quadrotor Flight. - Ramkumar Natarajan; Howie Choset; Maxim Likhachev (IEEE Robotics Autom. Lett., 2021)

Fast and High-Quality, GPU-based, Deliberative, Object-Pose Estimation. - Aditya Agarwal; Yash Oza; Maxim Likhachev; Chad C. Kessens (Field Robotics, 2021)

Minimizing Coordination in Multi-Agent Path Finding with Dynamic Execution. - Aidan Wagner; Rishi Veerapaneni; Maxim Likhachev (AIIDE, 2022)

Euclidean Distance-Optimal Post-processing of Grid-Based Paths. - Guru Koushik Senthil Kumar; Sandip Aine; Maxim Likhachev (ICAPS, 2022)

Complete, Decomposition-Free Coverage Path Planning. - Tushar Kusnur; Maxim Likhachev (CASE, 2022)

Improved Soft Duplicate Detection in Search-Based Motion Planning. - Nader Maray; Anirudh Vemula; Maxim Likhachev (ICRA, 2022)

AMRA*: Anytime Multi-Resolution Multi-Heuristic A. - Dhruv Mauria Saxena; Tushar Kusnur; Maxim Likhachev (ICRA, 2022)

Synergistic Scheduling of Learning and Allocation of Tasks in Human-Robot Teams. - Shivam Vats; Oliver Kroemer; Maxim Likhachev (ICRA, 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 (ISCA, 2022)

RTRBench: A Benchmark Suite for Real-Time Robotics. - Mohammad Bakhshalipour; Maxim Likhachev; Phillip B. Gibbons (ISPASS, 2022)

On the Effectiveness of Iterative Learning Control. - Anirudh Vemula; Wen Sun 002; Maxim Likhachev; J. Andrew Bagnell (L4DC, 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 (SOCS, 2022)

ePA*SE: Edge-Based Parallel A* for Slow Evaluations. - Shohin Mukherjee; Sandip Aine; Maxim Likhachev (SOCS, 2022)

Enhanced Multi-Objective A* Using Balanced Binary Search Trees. - Zhongqiang Ren; Richard Zhan; Sivakumar Rathinam; Maxim Likhachev; Howie Choset (SOCS, 2022)

Effectively Incorporating Weighted Cost-to-go Heuristic in Suboptimal CBS (Extended Abstract). - Rishi Veerapaneni; Tushar Kusnur; Maxim Likhachev (SOCS, 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. - Rishi Veerapaneni; Tushar Kusnur; Maxim Likhachev (CoRR, 2022)

Non-Blocking Batch A* (Technical Report). - Rishi Veerapaneni; Maxim Likhachev (CoRR, 2022)

Efficiently Learning Recoveries from Failures Under Partial Observability. - Shivam Vats; Maxim Likhachev; Oliver Kroemer (CoRR, 2022)

MPLP: Massively Parallelized Lazy Planning. - Shohin Mukherjee; Sandip Aine; Maxim Likhachev (IEEE Robotics Autom. Lett., 2022)

Multi-Objective Path-Based D* Lite. - Zhongqiang Ren; Sivakumar Rathinam; Maxim Likhachev; Howie Choset (IEEE Robotics Autom. Lett., 2022)

Multi-Objective Safe-Interval Path Planning With Dynamic Obstacles. - Zhongqiang Ren; Sivakumar Rathinam; Maxim Likhachev; Howie Choset (IEEE Robotics Autom. Lett., 2022)

Human-Scale Mobile Manipulation Using RoMan. - Chad C. Kessens; Matthew Kaplan 002; Trevor Rocks; Philip R. Osteen; John G. Rogers; Ethan Stump; Arnon Hurwitz; Jonathan Fink; Long Quang; Mark Gonzalez; Jaymit Patel; Michael Diblasi; et al. (Field Robotics, 2022)

Effective Integration of Weighted Cost-to-Go and Conflict Heuristic within Suboptimal CBS. - Rishi Veerapaneni; Tushar Kusnur; Maxim Likhachev (AAAI, 2023)

Runahead A*: Speculative Parallelism for A* with Slow Expansions. - Mohammad Bakhshalipour; Mohamad Qadri; Dominic Guri; Seyed Borna Ehsani; Maxim Likhachev; Phillip B. Gibbons (ICAPS, 2023)

Planning for Manipulation among Movable Objects: Deciding Which Objects Go Where, in What Order, and How. - Dhruv Saxena; Maxim Likhachev (ICAPS, 2023)

Learning Local Heuristics for Search-Based Navigation Planning. - Rishi Veerapaneni; Muhammad Suhail Saleem; Maxim Likhachev (ICAPS, 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 (ICRA, 2023)

Operating with Inaccurate Models by Integrating Control-Level Discrepancy Information into Planning. - Ellis Ratner; Claire J. Tomlin; Maxim Likhachev (ICRA, 2023)

Planning for Complex Non-prehensile Manipulation Among Movable Objects by Interleaving Multi-Agent Pathfinding and Physics-Based Simulation. - Dhruv Mauria Saxena; Maxim Likhachev (ICRA, 2023)

Efficient Recovery Learning using Model Predictive Meta-Reasoning. - Shivam Vats; Maxim Likhachev; Oliver Kroemer (ICRA, 2023)

GePA*SE: Generalized Edge-Based Parallel A* for Slow Evaluations. - Shohin Mukherjee; Maxim Likhachev (SOCS, 2023)

A-ePA*SE: Anytime Edge-Based Parallel A* for Slow Evaluations. - Hanlan Yang; Shohin Mukherjee; Maxim Likhachev (SOCS, 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., 2023)

Accelerating Search-Based Planning for Multi-Robot Manipulation by Leveraging Online-Generated Experiences. - Yorai Shaoul; Itamar Mishani; Maxim Likhachev; Jiaoyang Li 001 (ICAPS, 2024)

Improving Learnt Local MAPF Policies with Heuristic Search. - Rishi Veerapaneni; Qian Wang; Kevin Ren; Arthur Jakobsson; Jiaoyang Li 001; Maxim Likhachev (ICAPS, 2024)

MAPF in 3D Warehouses: Dataset and Analysis. - Qian Wang; Rishi Veerapaneni; Yu Wu; Jiaoyang Li 001; Maxim Likhachev (ICAPS, 2024)

Constant-time Motion Planning with Anytime Refinement for Manipulation. - Itamar Mishani; Hayden Feddock; Maxim Likhachev (ICRA, 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 (ICRA, 2024)

Improved M4M: Faster and Richer Planning for Manipulation Among Movable Objects in Cluttered 3D Workspaces. - Dhruv Mauria Saxena; Maxim Likhachev (ICRA, 2024)

PINSAT: Parallelized Interleaving of Graph Search and Trajectory Optimization for Kinodynamic Motion Planning. - Ramkumar Natarajan; Shohin Mukherjee; Howie Choset; Maxim Likhachev (IROS, 2024)

Implicit Graph Search for Planning on Graphs of Convex Sets. - Ramkumar Natarajan; Chaoqi Liu; Howie Choset; Maxim Likhachev (Robotics: Science and Systems, 2024)

Unconstraining Multi-Robot Manipulation: Enabling Arbitrary Constraints in ECBS with Bounded Sub-Optimality. - Yorai Shaoul; Rishi Veerapaneni; Maxim Likhachev; Jiaoyang Li 001 (SOCS, 2024)

A Data Efficient Framework for Learning Local Heuristics. - Rishi Veerapaneni; Jonathan Park; Muhammad Suhail Saleem; Maxim Likhachev (SOCS, 2024)

From Space-Time to Space-Order: Directly Planning a Temporal Planning Graph by Redefining CBS (Extended Abstract). - Yu Wu; Rishi Veerapaneni; Jiaoyang Li 001; Maxim Likhachev (SOCS, 2024)

From Space-Time to Space-Order: Directly Planning a Temporal Planning Graph by Redefining CBS. - Yu Wu; Rishi Veerapaneni; Jiaoyang Li 001; Maxim Likhachev (CoRR, 2024)

A preprocessing-based planning framework for utilizing contacts in high-precision insertion tasks. - Muhammad Suhail Saleem; Rishi Veerapaneni; Maxim Likhachev (CoRR, 2024)

Work Smarter Not Harder: Simple Imitation Learning with CS-PIBT Outperforms Large Scale Imitation Learning for MAPF. - Rishi Veerapaneni; Arthur Jakobsson; Kevin Ren; Samuel Kim; Jiaoyang Li 001; Maxim Likhachev (CoRR, 2024)

A POMDP-based hierarchical planning framework for manipulation under pose uncertainty. - Muhammad Suhail Saleem; Rishi Veerapaneni; Maxim Likhachev (CoRR, 2024)

RecoveryChaining: Learning Local Recovery Policies for Robust Manipulation. - Shivam Vats; Devesh K. Jha; Maxim Likhachev; Oliver Kroemer; Diego Romeres (CoRR, 2024)

Windowed MAPF with Completeness Guarantees. - Rishi Veerapaneni; Muhammad Suhail Saleem; Jiaoyang Li 001; Maxim Likhachev (AAAI, 2025)

Multi-Robot Motion Planning with Diffusion Models. - Yorai Shaoul; Itamar Mishani; Shivam Vats; Jiaoyang Li 001; Maxim Likhachev (ICLR, 2025)

EMOA*: A framework for search-based multi-objective path planning. - Zhongqiang Ren; Carlos Hernández 003; Maxim Likhachev; Ariel Felner; Sven Koenig; Oren Salzman; Sivakumar Rathinam; Howie Choset (Artif. Intell., 2025)

Real-Time LaCAM. - Runzhe Liang; Rishi Veerapaneni; Daniel Harabor; Jiaoyang Li 001; Maxim Likhachev (CoRR, 2025)

Anytime Single-Step MAPF Planning with Anytime PIBT. - Nayesha Gandotra; Rishi Veerapaneni; Muhammad Suhail Saleem; Daniel Harabor; Jiaoyang Li 001; Maxim Likhachev (CoRR, 2025)

MOSAIC: A Skill-Centric Algorithmic Framework for Long-Horizon Manipulation Planning. - Itamar Mishani; Yorai Shaoul; Maxim Likhachev (CoRR, 2025)

Optimal Interactive Learning on the Job via Facility Location Planning. - Shivam Vats; Michelle Zhao; Patrick Callaghan; Mingxi Jia; Maxim Likhachev; Oliver Kroemer; George Dimitri Konidaris (CoRR, 2025)

Lazy Heuristic Search for Solving POMDPs with Expensive-to-Compute Belief Transitions. - Muhammad Suhail Saleem; Rishi Veerapaneni; Maxim Likhachev (CoRR, 2025)