Publications

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

Journal and Magazine Articles, Book Chapters

• Maxim Likhachev and Anthony Stentz, "Probabilistic Planning with Clear Preferences on Missing Information, " Artificial Intelligence Journal (AIJ), (to appear).  

Abstract (HTML) Full preprint version (PDF).

• Dave Ferguson, Thomas Howard, and Maxim Likhachev, "Motion Planning in Urban Environments, " Journal of Field Robotics, (to appear), 2008.  

Abstract (HTML)

• Chris Urmson et al., "Autonomous Driving in Urban Environments: Boss and the Urban Challenge, " Journal of Field Robotics 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

• 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 will soon be posted

• 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 will soon be posted

• 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

• 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

• Maxim Likhachev, "Search-based Planning for Large Dynamic Environments, " PhD thesis, Carnegie Mellon University, 2005.  

Abstract (HTML) Full version (PDF).