Home/Maxim Likhachev

Maxim Likhachev

Associate Research Professor
Email: mlikhach@andrew.cmu.edu
Office: NSH 3211
Phone: (412) 268-5581
Personal Homepage
Administrative Assistant: Peggy A. Martin

My general research interests lie in Artificial Intelligence and Robotics. More specifically, they currently cover planning in deterministic and probabilistic domains and machine learning. My research has been mainly motivated by the problem of fast and intelligent decision making by autonomous robotic systems operating in real-world environments. Some of the robotic systems my group does planning for include mobile manipulators, aerial vehicles, multi-robot systems, and humanoid-like robots. I do get easily motivated, however, by other interesting planning problems.

Publications

Displaying 28 Publications
Heuristic Search on Graphs with Existence Priors for Expensive-to-Evaluate Edges
Venkatraman Narayanan, Maxim Likhachev

International Conference on Automated Planning and Scheduling (ICAPS), June, 2017

Learning to Avoid Local Minima in Planning for Static Environments
Shivam Vats, Venkatraman Narayanan, Maxim Likhachev

International Conference on Automated Planning and Scheduling (ICAPS), June, 2017

Deliberative Object Pose Estimation in Clutter
Venkatraman Narayanan, Maxim Likhachev

IEEE International Conference on Robotics and Automation (ICRA), May, 2017

Discriminatively-guided Deliberative Perception for Pose Estimation of Multiple 3D Object Instances
Venkatraman Narayanan, Maxim Likhachev

Robotics: Science and Systems, June, 2016

A*-Connect: Bounded Suboptimal Bidirectional Heuristic Search
Fahad Islam, Venkatraman Narayanan, Maxim Likhachev

IEEE International Conference on Robotics and Automation (ICRA), May, 2016

PERCH: Perception via Search for Multi-Object Recognition and Localization
Venkatraman Narayanan and Maxim Likhachev

IEEE International Conference on Robotics and Automation (ICRA), May, 2016

Planning for Grasp Selection of Partially Occluded Objects
Sung Kyun Kim, Maxim Likhachev

IEEE International Conference on Robotics and Automation (ICRA), May, 2016

Multi-Heuristic A*
Sandip Aine, Siddharth Swaminathan, Venkatraman Narayanan, Victor Hwang, Maxim Likhachev

International Journal of Robotics Research (IJRR), January, 2016

Efficient Search with an Ensemble of Heuristics
Michael Phillips, Venkatraman Narayanan, Sandip Aine and Maxim Likhachev

International Joint Conference on Artificial Intelligence (IJCAI), July, 2015

Improved Multi-Heuristic A* for Searching with Uncalibrated Heuristics
Venkatraman Narayanan, Sandip Aine and Maxim Likhachev

International Symposium on Combinatorial Search (SoCS), June, 2015

Dynamic Multi-Heuristic A*
Fahad Islam, Venkatraman Narayanan and Maxim Likhachev

IEEE International Conference on Robotics and Automation (ICRA), May, 2015

Task-Oriented Planning for Manipulating Articulated Mechanisms Under Model Uncertainty
Venkatraman Narayanan and Maxim Likhachev

IEEE International Conference on Robotics and Automation (ICRA), May, 2015

CHIMP, the CMU Highly Intelligent Mobile Platform
Anthony (Tony) Stentz, Herman Herman, Alonzo Kelly, Eric Meyhofer, Galen Clark Haynes, David Stager, Brian Zajac, J. Andrew (Drew) Bagnell, Jordan Brindza, Christopher Dellin, Michael George, Jose Gonzalez-Mora, Sean Hyde, Morgan Jones, Michel Laverne, Maxim Likhachev, Levi Lister, Matthew D. Powers, Oscar Ramos, Justin Ray, David P. Rice, Justin Scheifflee, Raumi Sidki, Siddhartha Srinivasa, Kyle Strabala, Jean Philippe Tardif, Jean-Sebastien Valois, J Michael Vandeweghe, Michael D. Wagner and Carl Wellington

Journal of Field Robotics (JFR), Special Issue: Special issue on DARPA Robotics Challenge (DRC), Vol. 32, No. 2, pp. 209-228, March, 2015

Robotic Handwriting: Multi-contact Manipulation based on Reactional Internal Contact Hypothesis
Sung Kyun Kim, Joonhee Jo, Yonghwan Oh, Sang-Rok Oh, Siddhartha Srinivasa and Maxim Likhachev

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September, 2014

Multi-Heuristic A*
Sandip Aine, Siddharth Swaminathan, Venkatraman Narayanan, Victor Hwang and Maxim Likhachev

Robotics: Science and Systems, July, 2014

Motion Planning for Robotic Manipulators with Independent Wrist Joints
Kalin V. Gochev, Venkatraman Narayanan, Benjamin Cohen, Alla Safonova and Maxim Likhachev

IEEE International Conference on Robotics and Automation (ICRA), May, 2014

Planning Under Topological Constraints Using Beam Graphs
Venkatraman Narayanan, Paul Vernaza, Maxim Likhachev and Steven M. LaValle

2013 IEEE International Conference on Robotics and Automation (ICRA), pp. 431-437, May, 2013

Anytime Safe Interval Path Planning for Dynamic Environments
Venkatraman Narayanan, Michael Phillips and Maxim Likhachev

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2012

Efficiently finding optimal winding-constrained loops in the plane
Paul Vernaza, Venkatraman Narayanan and Maxim Likhachev

Proceedings of Robotics: Science and Systems, July, 2012

Motion Planning in Urban Environments: Part I
David Ferguson , Thomas Howard and Maxim Likhachev

Proceedings of the IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, September, 2008

Motion Planning in Urban Environments: Part II
David Ferguson , Thomas Howard and Maxim Likhachev

Proceedings of the IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, September, 2008

A Reasoning Framework for Autonomous Urban Driving
David Ferguson , Christopher R. Baker, Maxim Likhachev and John M. Dolan

Proceedings of the IEEE Intelligent Vehicles Symposium (IV 2008), pp. 775-780, June, 2008

Autonomous driving in urban environments: Boss and the Urban Challenge
Christopher Urmson, Joshua Anhalt, Hong Bae, J. Andrew (Drew) Bagnell, Christopher R. Baker, Robert E. Bittner, Thomas Brown, M. N. Clark, Michael Darms, Daniel Demitrish, John M. Dolan, David Duggins, David Ferguson, Tugrul Galatali, Christopher M. Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert, Thomas Howard, Sascha Kolski, Maxim Likhachev, Bakhtiar Litkouhi, Alonzo Kelly, Matthew McNaughton, Nick Miller, Jim Nickolaou, Kevin Peterson, Brian Pilnick, Raj Rajkumar, Paul Rybski, Varsha Sadekar, Bryan Salesky, Young-Woo Seo, Sanjiv Singh, Jarrod M. Snider, Joshua C. Struble, Anthony (Tony) Stentz, Michael Taylor, William (Red) L. Whittaker, Ziv Wolkowicki, Wende Zhang and Jason Ziglar

Journal of Field Robotics Special Issue on the 2007 DARPA Urban Challenge, Part I, Vol. 25, No. 8, pp. 425-466, June, 2008

Tartan Racing: A Multi-Modal Approach to the DARPA Urban Challenge
Christopher Urmson, Joshua Anhalt, J. Andrew (Drew) Bagnell, Christopher R. Baker, Robert E. Bittner, John M. Dolan, David Duggins, David Ferguson , Tugrul Galatali, Hartmut Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert , Thomas Howard, Alonzo Kelly , David Kohanbash, Maxim Likhachev , Nick Miller, Kevin Peterson, Raj Rajkumar, Paul Rybski, Bryan Salesky, Sebastian Scherer, Young-Woo Seo, Reid Simmons, Sanjiv Singh, Jarrod M. Snider, Anthony (Tony) Stentz , William (Red) L. Whittaker and Jason Ziglar

CMU-RI-TR-, Robotics Institute, Carnegie Mellon University, DARPA Grand Challenge Tech Report, April, 2007

A Guide to Heuristic-based Path Planning
David Ferguson , Maxim Likhachev and Anthony (Tony) Stentz

Proceedings of the International Workshop on Planning under Uncertainty for Autonomous Systems, International Conference on Automated Planning and Scheduling (ICAPS), June, 2005

Anytime Dynamic A*: An Anytime, Replanning Algorithm
Maxim Likhachev, David Ferguson , Geoffrey Gordon, Anthony (Tony) Stentz and Sebastian Thrun

Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), June, 2005

Anytime Dynamic A*: The Proofs
Maxim Likhachev , David Ferguson , Geoffrey Gordon, Anthony (Tony) Stentz and Sebastian Thrun

CMU-RI-TR-05-12, Robotics Institute, Carnegie Mellon University, May, 2005

Learning Behavioral Parameterization Using Spatio-Temporal Case-Based Reasoning*
Maxim Likhachev , Michael Kaess and Ronald C. Arkin

IEEE Intl. Conf. on Robotics and Automation, ICRA, pp. 1282-1289, May, 2002

Mailing Address:

Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

2017-04-03T13:20:46+00:00