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Maxim Likhachev

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Unconstraining Multi-Robot Manipulation: Enabling Arbitrary Constraints in ECBS with Bounded Sub-Optimality

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May 07, 2024
Yorai Shaoul, Rishi Veerapaneni, Maxim Likhachev, Jiaoyang Li

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From Space-Time to Space-Order: Directly Planning a Temporal Planning Graph by Redefining CBS

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Apr 23, 2024
Yu Wu, Rishi Veerapaneni, Jiaoyang Li, Maxim Likhachev

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A Data Efficient Framework for Learning Local Heuristics

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Apr 10, 2024
Rishi Veerapaneni, Jonathan Park, Muhammad Suhail Saleem, Maxim Likhachev

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Improving Learnt Local MAPF Policies with Heuristic Search

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Mar 29, 2024
Rishi Veerapaneni, Qian Wang, Kevin Ren, Arthur Jakobsson, Jiaoyang Li, Maxim Likhachev

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Accelerating Search-Based Planning for Multi-Robot Manipulation by Leveraging Online-Generated Experiences

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Mar 29, 2024
Yorai Shaoul, Itamar Mishani, Maxim Likhachev, Jiaoyang Li

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PINSAT: Parallelized Interleaving of Graph Search and Trajectory Optimization for Kinodynamic Motion Planning

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Jan 17, 2024
Ramkumar Natarajan, Shohin Mukherjee, Howie Choset, Maxim Likhachev

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Preprocessing-based Kinodynamic Motion Planning Framework for Intercepting Projectiles using a Robot Manipulator

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Jan 16, 2024
Ramkumar Natarajan, Hanlan Yang, Qintong Xie, Yash Oza, Manash Pratim Das, Fahad Islam, Muhammad Suhail Saleem, Howie Choset, Maxim Likhachev

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Constant-time Motion Planning with Anytime Refinement for Manipulation

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Nov 01, 2023
Itamar Mishani, Hayden Feddock, Maxim Likhachev

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A-ePA*SE: Anytime Edge-Based Parallel A* for Slow Evaluations

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May 08, 2023
Hanlan Yang, Shohin Mukherjee, Maxim Likhachev

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Planning for Complex Non-prehensile Manipulation Among Movable Objects by Interleaving Multi-Agent Pathfinding and Physics-Based Simulation

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Mar 23, 2023
Dhruv Mauria Saxena, Maxim Likhachev

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