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), (to appear), 2009
    Abstract (HTML) DRAFT 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, (to appear), 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
  • 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 will soon be posted
  • 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
  • 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).
    Full version (PDF)
  • 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) Full version (PDF)
  • 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) Full version (PDF)
  • 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) Full version (PDF)
  • 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) Full version (PDF)
  • 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) Full version (PDF)


Thesis