Publications


Proofs and other technical reports (some of them) can be found here.


Journal and Magazine Articles, Book Chapters
  • Maxim Likhachev and Dave Ferguson, " Planning Long Dynamically-Feasible Maneuvers for Autonomous Vehicles, " International Journal of Robotics Research (IJRR), 2009
    Abstract (HTML) Full version (PDF)
  • Maxim Likhachev and Anthony Stentz, " Path Clearance, " IEEE Robotics and Automation Magazine (RAM), Special Issue on Cooperative Control of Multiple Heterogeneous Unmanned Aerial Vehicles for Coverage and Surveillance, 2009.
    Full version (PDF)
  • Maxim Likhachev and Anthony Stentz, " Probabilistic Planning with Clear Preferences on Missing Information, " Artificial Intelligence Journal (AIJ), 173 (5-6), pp. 696-721, 2009.
    Abstract (HTML) Full preprint version (PDF)
  • Dave Ferguson, Thomas Howard, and Maxim Likhachev, " Motion Planning in Urban Environments, " Journal of Field Robotics (JFR), 25(11-12), pp. 939-960, 2008.
    Abstract (HTML)
  • Chris Urmson et al., " Autonomous Driving in Urban Environments: Boss and the Urban Challenge, " Journal of Field Robotics (JFR) Special Issue on the 2007 DARPA Urban Challenge, Part I, 25 (8), pp. 425-466, June 2008.
    Abstract (HTML)
  • Maxim Likhachev, Dave Ferguson, Geoff Gordon, Anthony Stentz, and Sebastian Thrun, " Anytime Search in Dynamic Graphs, " Artificial Intelligence Journal (AIJ), 172 (14), pp. 1613-1643, September 2008.
    Abstract (HTML) Full preprint version (PDF)
  • Sven Koenig and Maxim Likhachev, " Fast Replanning for Navigation in Unknown Terrain, " IEEE Transactions on Robotics (TRO), 21(3), pp. 354-363, 2005.
    Abstract (HTML) Full version (PDF)
  • Sven Koenig, Maxim Likhachev, and David Furcy, " Lifelong Planning A*, " Artificial Intelligence Journal (AIJ), 155(1-2), pp. 93-146, 2004.
    Abstract (HTML) Full version (PDF)
  • Maxim Likhachev and Sven Koenig, " Lifelong Planning for Mobile Robots , " Lecture Notes in Artificial Intelligence, Vol. 2466: Advances in Plan-Based Control of Robotic Agents, M. Beetz, J. Hertzberg, M. Ghallab, and M. Pollack (Eds.), Springer, pp. 140-156, 2002.
    Abstract (HTML) Full version (PS)


Research Overview Publications
  • Sven Koenig, Maxim Likhachev, Yaxin Liu, and David Furcy, " Incremental Heuristic Search in Artificial Intelligence, " Artificial Intelligence Magazine, 25(2), pp. 99-112, 2004.


Full-length Conference Publications
  • Benjamin Cohen, Sachin Chitta and Maxim Likhachev, "Search-Based Planning for Dual-Arm Manipulation with Upright Orientation Constraints," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2012.
    Full version (PDF)
  • Kalin Gochev, Alla Safonova and Maxim Likhachev, "Planning with Adaptive Dimensionality for Mobile Manipulation," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2012.
    Full version (PDF)
  • Haojie Zhang, Jon Butzke, and Maxim Likhachev, "Combining Global and Local Planning with Guarantees on Completeness," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2012.
    Full version (PDF)
  • Juan Pablo Gonzalez, Andrew Dornbush and Maxim Likhachev, "Using State Dominance for Path Planning in Dynamic Environments with Moving Obstacles," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2012.
    Full version (PDF)
  • Armin Hornung, Mike Phillips, Edward Gil Jones, Maren Bennewitz, Maxim Likhachev and Sachin Chitta, "Navigation in Three-Dimensional Cluttered Environments for Mobile Manipulation," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2012.
    Full version (PDF)
  • Haifeng Gong, Jack Sim, Maxim Likhachev, and Jianbo Shi,"Multi-hypothesis Motion Planning for Visual Object Tracking," International Conference on Computer Vision (ICCV), 2011.
    Full version (PDF)
  • Aleksandr Kushleyev, Brian MacAllister and Maxim Likhachev, "Planning for Landing Site Selection in the Aerial Supply Delivery, " Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.
    Full version (PDF)
  • Jonathan Butzke and Maxim Likhachev, " Planning for Multi-Robot Exploration With Multiple Objective Utility Functions, " Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.
    Full version (PDF)
  • Mike Phillips and Maxim Likhachev, "Planning in Domains with Cost Function Dependent Actions," Proceedings of the National Conference on Artificial Intelligence (AAAI), 2011.
    Full version (PDF)
  • Subhrajit Bhattacharya, Maxim Likhachev and Vijay Kumar, " Identification and Representation of Homotopy Classes of Trajectories for Search-based Path Planning in 3D, " Proceedings of the Robotics: Science and Systems Conference (RSS), 2011 (Best Paper Award).
    Full version (PDF)
  • Juan Pablo Gonzalez and Maxim Likhachev, "Search-Based Planning with Provable Suboptimality Bounds for Continuous State Spaces, " Proceedings of the International Symposium on Combinatorial Search (SoCS), 2011.
    Full version (PDF)
  • Kalin Gochev, Benjamin Cohen, Jonathan Butzke, Alla Safonova and Maxim Likhachev, "Path Planning with Adaptive Dimensionality, " Proceedings of the International Symposium on Combinatorial Search (SoCS), 2011.
    Full version (PDF)
  • Benjamin Cohen, Gokul Subramanian, Sachin Chitta and Maxim Likhachev, "Planning for Manipulation with Adaptive Motion Primitives, " Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2011.
    Full version (PDF)
  • Mike Phillips and Maxim Likhachev, "SIPP: Safe Interval Path Planning for Dynamic Environments, " Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2011.
    Full version (PDF)
  • Jonathan Scholz, Sachin Chitta, Bhaskara Marthi and Maxim Likhachev, "Cart Pushing with a Mobile Manipulation System: Towards Navigation with Moveable Objects, " Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2011.
    Full version (PDF)
  • Subhrajit Bhattacharya, Vijay Kumar and Maxim Likhachev, " Distributed Optimization with Pairwise Constraints and its Application to Multi-robot Path Planning," Proceedings of the Robotics: Science and Systems Conference (RSS), 2010.
    Full version (PDF)
  • Subhrajit Bhattacharya, Vijay Kumar and Maxim Likhachev, "Search-based Path Planning with Homotopy Class Constraints," Proceedings of the National Conference on Artificial Intelligence (AAAI), 2010.
    Full version (PDF)
  • Sachin Chitta, Benjamin Cohen and Maxim Likhachev, "Planning for Autonomous Door Opening with a Mobile Manipulator, " Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2010.
    Full version (PDF)
  • Benjamin Cohen, Sachin Chitta, and Maxim Likhachev, "Search-based Planning for Manipulation with Motion Primitives, " Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2010.
    Full version (PDF)
  • Joseph T. Kider Jr., Mark Henderson, Maxim Likhachev, and Alla Safonova, "High-dimensional Planning on the GPU, " Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2010.
    Full version (PDF)
  • Subhrajit Bhattacharya, Maxim Likhachev, and Vijay Kumar, "Multi-agent Path Planning with Multiple Tasks and Distance Constraints, " Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2010.
    Full version (PDF)
  • Jennifer King and Maxim Likhachev, " Efficient Cost Computation in Cost Map Planning for Non-Circular Robots, " Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009.
    Full version (PDF)
  • Alex Nash, Sven Koenig and Maxim Likhachev, " Incremental Phi*: Incremental Any-Angle Path Planning on Grids, " Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), 2009.
    Full version (PDF)
  • Aleksandr Kushleyev and Maxim Likhachev, " Time-bounded Lattice for Efficient Planning in Dynamic Environments, " Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009.
    Full version (PDF)
  • Paul Vernaza, Maxim Likhachev, Subhrajit Bhattacharya, Sachin Chitta, Aleksandr Kushleyev and Daniel D. Lee, " Search-based Planning for a Legged Robot over Rough Terrain, " Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2009.
    Full version (PDF)
  • Dave Ferguson, Thomas Howard, and Maxim Likhachev, " Motion Planning in Urban Environments: Part I, " Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2008.
    Full version (PDF)
  • Dave Ferguson, Thomas Howard, and Maxim Likhachev, " Motion Planning in Urban Environments: Part II, " Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2008.
    Full version (PDF)
  • Maxim Likhachev and Dave Ferguson, " Planning Long Dynamically-Feasible Maneuvers For Autonomous Vehicles, " Proceedings of the Robotics: Science and Systems Conference (RSS), 2008.
    Abstract (HTML) Full version (PDF)
  • Maxim Likhachev and Anthony Stentz, " R* Search, " Proceedings of the National Conference on Artificial Intelligence (AAAI), 2008.
    Abstract (HTML) Full version (PDF)
  • Dave Ferguson, Christopher Baker, Maxim Likhachev and John Dolan, " A Reasoning Framework for Autonomous Urban Driving, " IEEE Intelligent Vehicles Symposium (IV), oral presentation, 2008.
    Abstract (HTML) Full version (PDF)
  • Maxim Likhachev and Anthony Stentz, " Information Value-Driven Approach to Path Clearance with Multiple Scout Robots, " Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2008.
    Abstract (HTML) Full version (PDF)
  • Maxim Likhachev and Anthony Stentz, " Goal Directed Navigation with Uncertainty in Adversary Locations, " Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007.
    Abstract (HTML) Full version (PDF)
  • Sven Koenig, Maxim Likhachev and Xiaoxun Sun, " Speeding up Moving-Target Search, " Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2007.
    Abstract (HTML) Full version (PDF)
  • Maxim Likhachev and Anthony Stentz, " Path Clearance Using Multiple Scout Robots, " Proceedings of the Army Science Conference (ASC), 2006.
    Abstract (HTML) Full version (PDF)
  • Maxim Likhachev and Anthony Stentz, " PPCP: Efficient Probabilistic Planning with Clear Preferences in Partially-Known Environments, " Proceedings of the National Conference on Artificial Intelligence (AAAI), 2006.
    Abstract (HTML) Full version (PDF)
  • Sven Koenig and Maxim Likhachev, " Real-Time Adaptive A*, " Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2006.
    Abstract (HTML) Full version (PDF)
  • H. Brendan McMahan, Maxim Likhachev, and Geoff Gordon, " Bounded Real-Time Dynamic Programming: RTDP with monotone upper bounds and performance guarantees, " Proceedings of the International Conference on Machine Learning (ICML), 2005.
    Abstract (HTML) Full version (PDF)
  • Maxim Likhachev, Dave Ferguson, Geoff Gordon, Anthony Stentz, and Sebastian Thrun, " Anytime Dynamic A*: An Anytime, Replanning Algorithm, " Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 2005.
    Abstract (HTML) Full version (PDF)
  • Maxim Likhachev, and Sven Koenig, " A Generalized Framework for Lifelong Planning A*, " Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 2005.
    Abstract (HTML) Full version (PDF)
  • Maxim Likhachev, Geoff Gordon and Sebastian Thrun, " Planning for Markov Decision Processes with Sparse Stochasticity, " Advances in Neural Information Processing Systems 17 (NIPS), MIT Press, Cambridge, MA, 2005.
    Abstract (HTML) Full version (PDF)
  • Maxim Likhachev, Geoff Gordon and Sebastian Thrun, " ARA*: Anytime A* with Provable Bounds on Sub-Optimality, " Advances in Neural Information Processing Systems 16 (NIPS), MIT Press, Cambridge, MA, 2004.
    Abstract (HTML) Full version (PDF)
  • Maxim Likhachev and Sven Koenig, " Speeding up the Parti-Game Algorithm, " Advances in Neural Information Processing Systems 15 (NIPS), MIT Press, Cambridge, MA, 2003.
    Abstract (HTML) Full version (PS)
  • Maxim Likhachev and Sven Koenig, " Incremental Replanning for Mapping, " Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vol. 1, pp. 667-672, 2002.
    Abstract (HTML) Full version (PDF)
  • Sven Koenig and Maxim Likhachev, " D* Lite, " Proceedings of the Eighteenth National Conference on Artificial Intelligence (AAAI), pp. 476-483, 2002.
    Abstract (HTML) Full version (PS)
  • Maxim Likhachev, Michael Kaess, and Ronald C. Arkin, " Learning Behavioral Parameterization Using Spatio-Temporal Case-Based Reasoning, " Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Vol. 2, pp. 1282-1289, 2002.
    Abstract (HTML) Full version (PDF)
  • J. Brian Lee, Maxim Likhachev, and Ronald C. Arkin, " Selection of Behavioral Parameters: Integration of Discontinuous Switching via Case-Based Reasoning with Continuous Adaptation via Learning Momentum, " Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Vol. 2, pp. 1275-1281, 2002.
    Abstract (HTML) Full version (PDF)
  • Sven Koenig and Maxim Likhachev, " Incremental A*, " Advances in Neural Information Processing Systems 14 (NIPS), MIT Press, Cambridge, MA, 2002.
    Abstract (HTML) Full version (PS)
  • Maxim Likhachev and Ronald C. Arkin, " Spatio-Temporal Case-Based Reasoning for Behavioral Selection, " Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Vol. 2, pp. 1627-1634, 2001.
    Abstract (HTML) Full version (PDF)
  • Maxim Likhachev and Ronald C. Arkin, " Robotic Comfort Zones, " Proceedings of SPIE: Sensor Fusion and Decentralized Control in Robotic Systems III Conference, Vol. 4196, pp. 27-41, 2000.
    Abstract (HTML) Full version (PS)


Workshop and Short Conference Publications
  • Aleksandr Kushleyev, Brian MacAllister and Maxim Likhachev, " Planning for Landing Site Selection in the Aerial Supply Delivery, " Two-page abstract in Proceedings of the International Symposium on Combinatorial Search (SoCS), 2011.
    PDF file
  • Mike Phillips and Maxim Likhachev, "Planning in Domains with Cost Function Dependent Actions," Two-page abstract in Proceedings of the International Symposium on Combinatorial Search (SoCS), 2011.
    PDF file will appear soon
  • Mark Henderson, Joseph T. Kider Jr., Maxim Likhachev and Alla Safonova, " High-Dimensional Planning on the GPU, " NVIDIA GPU Technology Conference, 2009 (Best Poster Award).
    PDF file
  • Dave Ferguson and Maxim Likhachev, " Efficiently Using Cost Maps For Planning Complex Maneuvers, " Proceedings of ICRA Workshop on Planning with Cost Maps, 2008.
    Abstract (HTML) PDF file
  • Dave Ferguson, Maxim Likhachev and Anthony Stentz, " A Guide to Heuristic-based Path Planning, " Proceedings of ICAPS Workshop on Planning under Uncertainty for Autonomous Systems, 2005.
    Abstract (HTML) PDF file
  • Maxim Likhachev and Sven Koenig, " Incremental Heuristic Search in Games: The Quest for Speed, " Proceedings of the Artificial Intelligence and Interactive Digital Entertainment Conference (AIIDE), Poster Abstract, 2006.
    Abstract (HTML) PDF file
  • Sven Koenig and Maxim Likhachev, " A New Principle for Incremental Heuristic Search: Theoretical Results, " Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), Poster Abstract, 2006.
    Abstract (HTML) PDF file
  • Sven Koenig and Maxim Likhachev, " Adaptive A*, " Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), Poster Abstract, 2005.
    Abstract (HTML) PDF file


Thesis