Publications


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


Journal and Magazine Articles, Book Chapters
  • Shohin Mukherjee, Sandip Aine, and Maxim Likhachev, "MPLP: Massively Parallelized Lazy Planning," IEEE Robotics and Automation Letters (RA-L), 2022.
  • Zhongqiang Ren, Sivakumar Rathinam, Maxim Likhachev, and Howie Choset, "Multi-Objective Path-Based D* Lite," IEEE Robotics and Automation Letters (RA-L), 2022.
  • Fahad Islam, Oren Salzman, Aditya Agarwal, and Maxim Likhachev, "Provably Constant-time Planning and Replanning for Real-time Grasping Objects off a Conveyor Belt," International Journal of Robotics Research (IJRR), 2021.
  • Anahita Mohseni-Kabir, Manuela Veloso, and Maxim Likhachev, "Optimal Planning Over Long and Infinite Horizons for Achieving Independent Partially-Observable Tasks That Evolve Over Time," IEEE Robotics and Automation Letters (RA-L), 2021.
  • Ramkumar Natarajan, Howie Choset and Maxim Likhachev, "Interleaving Graph Search and Trajectory Optimization for Aggressive Quadrotor Flight," IEEE Robotics and Automation Letters (RA-L), 2021.
  • Vinitha Ranganeni, Sahit Chintalapudi, Oren Salzman and Maxim Likhachev, "Effective Footstep Planning Using Homotopy-Class Guidance," Artificial Intelligence Journal (AIJ), 2020.
  • Dina Youakim, Patryk Cieslak, Andrew Dornbush, Albert Palomer, Pere Ridao and Maxim Likhachev, "Multi-Representation, Multi-Heuristic A* Search-based Motion Planning for a Free-floating Underwater Vehicle Manipulator System in Unknown Environment," Journal of Field Robotics (JFR), 2020.
  • Sandip Aine and Maxim Likhachev, "Truncated Incremental Search," Artificial Intelligence Journal (AIJ), 2016.
    Full version (PDF)
  • Mike Phillips, Victor Hwang, Sachin Chitta and Maxim Likhachev, "Learning to Plan for Constrained Manipulation from Demonstrations," Autonomous Robots (AURO), 2016.
    Full version (PDF)
  • Ron Alterovitz, Sven Koenig and Maxim Likhachev, "Robot Planning in the Real World: Research Challenges and Opportunities," Artificial Intelligence Magazine, 2015.
  • Sandip Aine, Siddharth Swaminathan, Venkatraman Narayanan, Victor Hwang and Maxim Likhachev, "Multi-Heuristic A*," International Journal of Robotics Research (IJRR), 2015.
    Full version (PDF)
  • Benjamin Cohen, Sachin Chitta and Maxim Likhachev, "Single- and dual-arm motion planning with heuristic search, " International Journal of Robotics Research (IJRR), 2013.
    Full version (PDF)
  • Subhrajit Bhattacharya, Maxim Likhachev and Vijay Kumar, "Topological Constraints in Search-based Robot Path Planning," Autonomous Robots (AURO), 2012.
    PDF file to be posted
  • Jon Butzke, Kostas Daniilidis, Alex Kushleyev, Dan D. Lee, Maxim Likhachev, Cody Phillips, Mike Phillips, "The University of Pennsylvania MAGIC 2010 multi-robot unmanned vehicle system," Journal of Field Robotics (JFR), 2012.
    PDF file to be posted
  • 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, Yaxin Liu, and David Furcy, " Incremental Heuristic Search in Artificial Intelligence, " Artificial Intelligence Magazine, 25(2), pp. 99-112, 2004.
  • 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)


Full-length Conference Publications
  • Muhammad Suhail Saleem, Raghav Sood, Sho Onodera, Rohit Arora, Hiroyuki Kanazawa, and Maxim Likhachev, "Search-Based Path Planning for a High Dimensional Manipulator in Cluttered Environments Using Optimization-Based Primitives," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
    PDF file to be posted
  • Shohin Mukherjee, Chris Paxton, Arsalan Mousavian, Adam Fishman, Maxim Likhachev, Dieter Fox, "Reactive Long Horizon Task Execution Via Visual Skill and Precondition Models," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
    PDF file to be posted
  • Anahita Mohseni-Kabir, Manuela Veloso, and Maxim Likhachev, "Optimal Planning Over Long and Infinite Horizons for Achieving Independent Partially-Observable Tasks That Evolve Over Time," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
    PDF file to be posted
  • Ishani Chatterjee, Yash Oza, Maxim Likhachev, and Manuela Veloso, "Search-Based Planning with Learned Behaviors for Navigation among Pedestrians," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
    PDF file to be posted
  • Sandip Aine, Yash Oza, and Maxim Likhachev, "Disruption-Limited Planning for Robot Navigation in Dynamic Environments," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
    Full version (PDF)
  • Ishani Chatterjee, Tushar Kusnur, and Maxim Likhachev, "Fast Bounded Suboptimal Probabilistic Planning with Clear Preferences on Missing Information," Proceedings of the International Symposium on Combinatorial Search (SoCS), 2021.
    PDF file to be posted
  • Jasmeet Kaur, Ishani Chatterjee, and Maxim Likhachev, "Speeding Up Search-Based Motion Planning using Expansion Delay Heuristics," Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 2021.
    PDF file to be posted
  • Paritosh Kelkar, Parth Chopra, Savio Pereira, Dan DeLano, Aaron Miller, Kyungzun Rim, Samer Rajab, Jonathan Butzke, and Maxim Likhachev, "Affordable Autonomy through Cooperative Sensing and Planning," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2021.
    PDF file to be posted
  • Dhruv Mauria Saxena, Muhammad Suhail Saleem, and Maxim Likhachev, "Manipulation Planning Among Movable Obstacles Using Physics-Based Adaptive Motion Primitives," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2021.
    PDF file to be posted
  • Fahad Islam, Chris Paxton, Clemens Eppner, Bryan Peele, Maxim Likhachev, and Dieter Fox, "Alternative Paths Planner (APP) for Provably Fixed-time Manipulation Planning in Semi-structured Environments," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2021.
    PDF file to be posted
  • Tushar Kusnur, Dhruv Mauria Saxena, and Maxim Likhachev, "Search-based Planning for Active Sensing in Goal-Directed Coverage Tasks," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2021.
    PDF file to be posted
  • Anirudh Vemula, J. Andrew Bagnell and Maxim Likhachev, "CMAX++: Leveraging Experience in Planning and Execution Using Inaccurate Models," Proceedings of the AAAI Conference on Artificial Intelligence (AAAI), 2021.
    PDF file to be posted
  • Aditya Agarwal, Yupeng Han and Maxim Likhachev, "PERCH 2.0: Fast and Accurate GPU-Based Perception Via Search for Object Pose Estimation," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
    PDF file to be posted
  • Raghav Sood, Shivam Vats and Maxim Likhachev, "Learning to Use Adaptive Motion Primitives in Search-Based Motion Planning for Navigation," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
    PDF file to be posted
  • Fahad Islam, Oren Salzman, Aditya Agarwal and Maxim Likhachev, "Provably Constant-time Planning and Re-planning for Real-time Grasping Objects off a Conveyor Belt," Proceedings of the Robotics: Science and Systems Conference (RSS), 2020.
    PDF file to be posted
  • Anirudh Vemula, Yash Oza, J. Andrew Bagnell and Maxim Likhachev, "Planning and Execution using Inaccurate Models with Provable Guarantees," Proceedings of the Robotics: Science and Systems Conference (RSS), 2020.
    PDF file to be posted
  • Wei Du, Fahad Islam and Maxim Likhachev, "Multi-Resolution A*," Proceedings of the International Symposium on Combinatorial Search (SoCS), 2020.
    PDF file to be posted
  • Muhammad Suhail Saleem and Maxim Likhachev, "Planning with Selective Physics-based Simulation for Manipulation Among Moveable Objects," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2020.
    PDF file to be posted
  • Fahad Islam, Anirudh Vemula, Sung-Kyun Kim, Andrew Dornbush, Oren Salzman, and Maxim Likhachev, "Planning, Learning and Reasoning Framework for Robot Truck Unloading," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2020.
    PDF file to be posted
  • Aaron Miller, Kyungzun Rim, Parth Chopra, Paritosh Kelkar, and Maxim Likhachev, "Cooperative Perception and Localization for Cooperative Driving," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2020.
    PDF file to be posted
  • Dhruv Mauria Saxena, Sangjae Bae, Alireza Nakhaei, and Maxim Likhachev, "Driving in Dense Traffic with Model-Free Reinforcement Learning," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2020.
    PDF file to be posted
  • Anahita Mohseni-Kabir, Maxim Likhachev and Manuela Veloso, "Efficient Robot Planning for Achieving Multiple Independent Partially Observable Tasks that Evolve Over Time," Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 2020.
    PDF file to be posted
  • Allen Cheng, Dhruv Mauria Saxena, Maxim Likhachev, "Bidirectional Heuristic Search for Motion Planning with an Extend Operator," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019.
    Full version (PDF)
  • Wei Du, Sung-Kyun Kim, Oren Salzman, and Maxim Likhachev, "Escaping Local Minima in Search-Based Planning Using Soft Duplicate Detection," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019.
    Full version (PDF)
  • Tushar Kusnur, Shohin Mukherjee, Dhruv Mauria Saxena, Tomoya Fukami, Takayuki Koyama, Oren Salzman, and Maxim Likhachev, "A Planning Framework for Persistent, Multi-UAV Coverage with Global Deconfliction," Proceedings of the 12th Conference on Field and Service Robotics (FSR), 2019.
    Full version (PDF)
  • Kalyan Vasudev Alwala, Margarita Safonova, Oren Salzman, and Maxim Likhachev, "Intuitive, Reliable Plans with Contingencies: Planning with Safety Nets for Landmark-Based Routing," Proceedings of the International Symposium on Combinatorial Search (SoCS), 2019.
    Full version (PDF)
  • Fahad Islam, Oren Salzman, and Maxim Likhachev "Provable Indefinite-Horizon Real-Time Planning for Repetitive Tasks," Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 2019.
    Full version (PDF)
  • Ishani Chatterjee, Maxim Likhachev, Ashwin Khadke, and Manuela Veloso "Speeding Up Search-Based Motion Planning via Conservative Heuristics," Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 2019.
    Full version (PDF)
  • Sung-Kyun Kim, Oren Salzman and Maxim Likhachev, "POMHDP: Search-Based Belief Space Planning Using Multiple Heuristics," Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 2019.
    Full version (PDF)
  • Dina Youakim, Andrew Dornbush, Maxim Likhachev and Pere Ridao, "Motion Planning for an Underwater Mobile Manipulator by Exploiting Loose Coupling," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.
    Full version (PDF)
  • Piero Micelli and Maxim Likhachev, "FOCS: Planning by Fusion of Optimal Control and Search and its Application to Navigation," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.
    Full version (PDF)
  • Fahad Islam, Oren Salzman and Maxim Likhachev, "Online, Interactive User Guidance for High-dimensional, Constrained Motion Planning," Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), 2018.
    Full version (PDF)
  • Vinitha Ranganeni, Oren Salzman and Maxim Likhachev, "Effective Footstep Planning for Humanoids Using Homotopy-Class Guidance," Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 2018.
    Full version (PDF)
  • Andrew Dornbush, Karthik Vijayakumar, Sameer Bardapurkar, Fahad Islam and Maxim Likhachev, "A Single-Planner Approach to Multi-Modal Humanoid Mobility," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2018.
    Full version (PDF)
  • John Drake, Alla Safonova and Maxim Likhachev, "Towards Adaptability of Demonstration-Based Training of NPC Behavior," Proceedings of the AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment (AIIDE), 2017.
    Full version (PDF)
  • Venkatraman Narayanan and Maxim Likhachev, "Heuristic Search on Graphs with Existence Priors for Expensive-to-Evaluate Edges," Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 2017.
    Full version (PDF)
  • Shivam Vats, Venkatraman Narayanan and Maxim Likhachev, "Learning to Avoid Local Minima in Planning for Static Environments," Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), short paper, 2017.
    Full version (PDF)
  • Venkatraman Narayanan and Maxim Likhachev, "Deliberative Object Pose Estimation in Clutter," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2017.
    Full version (PDF)
  • Sung-Kyun Kim and Maxim Likhachev, "Parts Assembly Planning under Uncertainty with Simulation-Aided Physical Reasoning," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2017.
    Full version (PDF)
  • Venkatraman Narayanan and Maxim Likhachev, "Discriminatively-guided Deliberative Perception for Pose Estimation of Multiple 3D Object Instances," Proceedings of the Robotics: Science and Systems Conference (RSS), 2016.
    Full version (PDF)
  • Sandip Aine and Maxim Likhachev, "Search Portfolio with Sharing," Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 2016.
    Full version (PDF)
  • John Drake, Alla Safonova and Maxim Likhachev, "Demonstration-Based Training of Non-Player Character Tactical Behaviors," Proceedings of the Twelfth Conference on Artificial Intelligence and Interactive Digital Entertainment (AIIDE), 2016.
    Full version (PDF)
  • Venkatraman Narayanan and Maxim Likhachev, "PERCH: Perception via Search for Multi-Object Recognition and Localization," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2016.
    Full version (PDF)
  • Fahad Islam, Venkatraman Narayanan and Maxim Likhachev, "A*-Connect: Bounded Suboptimal Bidirectional Heuristic Search," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2016.
    Full version (PDF)
  • Sung-Kyun Kim and Maxim Likhachev, "Planning for Grasp Selection of Partially Occluded Objects," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2016.
    Full version (PDF)
  • Jonathan Butzke, Kalin Gochev, Benjamin Holden, Eui-Jung Jung and Maxim Likhachev, "Planning for a Ground-Air Robotic System with Collaborative Localization," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2016.
    Full version (PDF)
  • Mike Phillips, Venkatraman Narayanan, Sandip Aine and Maxim Likhachev, "Efficient Search with an Ensemble of Heuristics, " Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), 2015.
    Full version (PDF)
  • Jonathan Butzke, Andrew Dornbush and Maxim Likhachev, "3-D Exploration with an Air-Ground Robotic System," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.
    Full version (PDF)
  • Soonkyum Kim and Maxim Likhachev, "Path Planning for a Tethered Robot Using Multi-Heuristic A* with Topology-Based Heuristics," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.
    Full version (PDF)
  • Venkatraman Narayanan, Sandip Aine and Maxim Likhachev, "Improved Multi-Heuristic A* for Searching with Uncalibrated Heuristics," Proceedings of the International Symposium on Combinatorial Search (SoCS), 2015.
    Full version (PDF)
  • Sandip Aine, Charupriya Sharma and Maxim Likhachev, "Learning to Search More Efficiently from Experience: A Multi-heuristic Approach," Proceedings of the International Symposium on Combinatorial Search (SoCS), 2015.
    Full version (PDF)
  • Venkatraman Narayanan and Maxim Likhachev, "Task-Oriented Planning for Manipulating Articulated Mechanisms under Model Uncertainty," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015.
    Full version (PDF)
  • Fahad Islam, Venkatraman Narayanan and Maxim Likhachev, "Dynamic Multi-Heuristic A*," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015.
    Full version (PDF)
  • Siddharth Swaminathan, Mike Phillips and Maxim Likhachev, "Planning for multi-agent teams with leader switching," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015.
    Full version (PDF)
  • Victor Hwang, Mike Phillips, Siddhartha Srinivasa and Maxim Likhachev, "Lazy Validation of Experience Graphs," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015.
    Full version (PDF)
  • Ellis Ratner, Benjamin Cohen, Mike Phillips and Maxim Likhachev, "A Web-based Infrastructure for Recording User Demonstrations of Mobile Manipulation Tasks," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015.
    Full version (PDF)
  • Mike Phillips and Maxim Likhachev, "Speeding up heuristic computation in planning with Experience Graphs," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015.
    Full version (PDF)
  • Kalin Gochev, Alla Safonova and Maxim Likhachev, "Anytime Tree-Restoring Weighted A* Graph Search," Proceedings of the International Symposium on Combinatorial Search (SoCS), 2014.
    Full version (PDF)
  • Jonathan Butzke, Krishna Sapkota, Kush Prasad, Brian MacAllister and Maxim Likhachev, "State Lattice with Controllers: Augmenting Lattice-Based Path Planning with Controller-Based Motion Primitives," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014.
    Full version (PDF)
  • Sung-Kyun Kim, Joonhee Jo, Yonghwan Oh, Sang-Rok Oh, Siddhartha Srinivasa and Maxim Likhachev, "Robotic Handwriting: Multi-Contact Manipulation Based on Reactional Internal Contact Hypothesis," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014.
    Full version (PDF)
  • Sandip Aine, Siddharth Swaminathan, Venkatraman Narayanan, Victor Hwang and Maxim Likhachev, "Multi-Heuristic A*," Proceedings of the Robotics: Science and Systems Conference (RSS), 2014.
    Full version (PDF)
  • Benjamin Cohen, Mike Phillips and Maxim Likhachev, "Planning Single-arm Manipulations with n-Arm Robots," Proceedings of the Robotics: Science and Systems Conference (RSS), 2014.
    Full version (PDF)
  • John Drake, Maxim Likhachev and Alla Safonova, "Prioritized Computation for Numerical Sound Propagation," Proceedings of the 17th International Conference on Digital Audio Effects (DAFx), 2014.
    Full version (PDF)
  • James Keller, Dinesh Thakur, Vladimir Dobrokhodov, Kevin Jones, Maxim Likhachev, Jean Gallier, Isaac Kaminer and Vijay Kumar, "Coordinated Commencement of Pre-Planned Routes for Fixed-Wing UAS Starting from Arbitrary Locations - a Near Real-Time Solution," Proceedings of International Conference on Unmanned Aircraft Systems, (ICUAS) 2014.
    Full version (PDF)
  • Arjun Menon, Benjamin Cohen and Maxim Likhachev, "Motion Planning for Smooth Pickup of Moving Objects," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2014.
    Full version (PDF)
  • Kalin Gochev, Venkatraman Narayanan, Benjamin Cohen, Alla Safonova and Maxim Likhachev, "Motion Planning for Robotic Manipulators with Independent Wrist Joints," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2014.
    Full version (PDF)
  • Mike Phillips, Sven Koenig and Maxim Likhachev "Parallel A* for Planning with Time-consuming State Expansions," Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 2014.
    Full version (PDF)
  • Aline Normoyle, Maxim Likhachev and Alla Safonova, "Stochastic Activity Authoring with Direct User Control," Proceedings of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games (I3D), 2014.
    Full version (PDF)
  • Anthony Cowley, Benjamin Cohen, William Marshall, Camillo J. Taylor and Maxim Likhachev,"Perception and Motion Planning for Pick-and-Place of Dynamic Objects," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.
    Full version (PDF)
  • Dinesh Thakur, Maxim Likhachev, James Keller, Vijay Kumar, Vladimir Dobrokhodov, Kevin Jones, Jeff Wurz and Isaac Kaminer,"Planning for Opportunistic Surveillance with Multiple Robots," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.
    Full version (PDF)
  • Mike Phillips, Victor Hwang, Sachin Chitta and Maxim Likhachev,"Learning to Plan for Constrained Manipulation from Demonstrations," Proceedings of the Robotics: Science and Systems Conference (RSS), 2013.
    Full version (PDF)
  • Sandip Aine and Maxim Likhachev,"Anytime Truncated D*: Anytime Replanning with Truncation," Proceedings of the International Symposium on Combinatorial Search (SoCS), 2013.
    Full version (PDF)
  • Sandip Aine and Maxim Likhachev,"Truncated Incremental Search: Faster Replanning by Exploiting Suboptimality," Proceedings of the National Conference on Artificial Intelligence (AAAI), 2013.
    Full version (PDF)
  • Kalin Gochev, Alla Safonova and Maxim Likhachev, "Incremental Planning with Adaptive Dimensionality," Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 2013 (Best Student Paper Honorable Mention).
    Full version (PDF)
  • Mike Phillips, Andrew Dornbush, Sachin Chitta and Maxim Likhachev, "Anytime Incremental Planning with E-Graphs," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2013.
    Full version (PDF)
  • Steven Gray, Sachin Chitta, Vijay Kumar and Maxim Likhachev, "A Single Planner for a Composite Task of Approaching, Opening and Navigating through Non-spring and Spring-loaded Doors," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2013.
    Full version (PDF)
  • Venkatraman Narayanan, Paul Vernaza, Maxim Likhachev and Steven M LaValle, "Planning Under Topological Constraints Using Beam-Graphs," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2013.
    Full version (PDF)
  • Brian MacAllister, Jonathan Butzke, Aleksandr Kushleyev and Maxim Likhachev, "Path Planning for Non-Circular Micro Aerial Vehicles in Constrained Environments," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2013.
    Full version (PDF)
  • Bradford Neuman and Maxim Likhachev, "Planning with Approximate Preferences and its Application to Disambiguating Human Intentions in Navigation," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2013.
    Full version (PDF)
  • Armin Hornung, Andrew Dornbush, Maxim Likhachev and Maren Bennewitz,"Anytime Footstep Planning with Suboptimality Bounds," Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2012.
    Full version (PDF)
  • Venkatraman Narayanan, Mike Phillips and Maxim Likhachev, "Anytime Safe Interval Path Planning for Dynamic Environments," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
    Full version (PDF)
  • Aline Normoyle, John Drake, Maxim Likhachev and Alla Safonova"Game-based Data Capture for Player Metrics," Proceedings of the Eight Conference on Artificial Intelligence and Interactive Digital Entertainment (AIIDE), 2012.
    Full version (PDF)
  • Nathan R. Sturtevant, Ariel Felner, Maxim Likhachev and Wheeler Ruml, "Heuristic Search Comes of Age," Proceedings of the National Conference on Artificial Intelligence (AAAI), 2012 (invited paper).
    Full version (PDF)
  • Subhrajit Bhattacharya, Maxim Likhachev and Vijay Kumar, "Search-based Path Planning with Homotopy Class Constraints in 3D," Proceedings of the National Conference on Artificial Intelligence (AAAI), 2012 (invited paper).
    Full version (PDF)
  • Mike Phillips, Benjamin Cohen, Sachin Chitta and Maxim Likhachev, "E-Graphs: Bootstrapping Planning with Experience Graphs," Proceedings of the Robotics: Science and Systems Conference (RSS), 2012.
    Full version (PDF)
  • Paul Vernaza, Venkatraman Narayanan and Maxim Likhachev, "Efficiently finding optimal winding-constrained loops in the plane," Proceedings of the Robotics: Science and Systems Conference (RSS), 2012.
    Full version (PDF)
  • 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.
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  • 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.
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  • 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.
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  • 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.
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  • 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.
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  • 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.
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  • 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 (Influential Paper Award at ICAPS'17).
    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.
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  • 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.
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  • 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.
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  • 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 (Classic Paper Honorable Mention Award at AAAI'19)
    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.
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  • 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
  • Ramkumar Natarajan, Muhammad Suhail Saleem, Sandip Aine, Maxim Likhachev, and Howie Choset, "A-MHA*: Anytime Multi-Heuristic A*," Two-page abstract in Proceedings of the International Symposium on Combinatorial Search (SoCS), 2019.
    PDF file
  • 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