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Theory and Analysis of Optimal Planning over Long and Infinite Horizons for Achieving Independent Partially-Observable Tasks that Evolve over Time


Feb 25, 2021
Anahita Mohseni-Kabir, Manuela Veloso, Maxim Likhachev


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Manipulation Planning Among Movable Obstacles Using Physics-Based Adaptive Motion Primitives


Feb 08, 2021
Dhruv Mauria Saxena, Muhammad Suhail Saleem, Maxim Likhachev

* Under review for the IEEE Robotics and Automation Letters (RA-L) journal with conference presentation option at the 2021 International Conference on Robotics and Automation (ICRA). This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible 

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Interleaving Graph Search and Trajectory Optimization for Aggressive Quadrotor Flight


Jan 29, 2021
Ramkumar Natarajan, Howie Choset, Maxim Likhachev

* IEEE Robotics and Automation Letters (RA-L), 2021 

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Provably Constant-time Planning and Replanning for Real-time Grasping Objects off a Conveyor Belt


Jan 15, 2021
Fahad Islam, Oren Salzman, Aditya Agarwal, Maxim Likhachev

* arXiv admin note: substantial text overlap with arXiv:2003.08517 

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Alternative Paths Planner (APP) for Provably Fixed-time Manipulation Planning in Semi-structured Environments


Dec 29, 2020
Fahad Islam, Chris Paxton, Clemens Eppner, Bryan Peele, Maxim Likhachev, Dieter Fox


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Sim-to-Real Task Planning and Execution from Perception via Reactivity and Recovery


Nov 17, 2020
Shohin Mukherjee, Chris Paxton, Arsalan Mousavian, Adam Fishman, Maxim Likhachev, Dieter Fox

* Under review 

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Search-based Planning for Active Sensing in Goal-Directed Coverage Tasks


Nov 14, 2020
Tushar Kusnur, Dhruv Mauria Saxena, Maxim Likhachev

* Submitted to ICRA 2021 

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CMAX++ : Leveraging Experience in Planning and Execution using Inaccurate Models


Oct 15, 2020
Anirudh Vemula, J. Andrew Bagnell, Maxim Likhachev


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CMAX++ : Leveraging Experience for Planning and Execution using Inaccurate Models


Sep 21, 2020
Anirudh Vemula, J. Andrew Bagnell, Maxim Likhachev


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PERCH 2.0 : Fast and Accurate GPU-based Perception via Search for Object Pose Estimation


Aug 01, 2020
Aditya Agarwal, Yupeng Han, Maxim Likhachev


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Multi-Resolution A*


Apr 14, 2020
Wei Du, Fahad Islam, Maxim Likhachev


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Provably Constant-Time Planning and Re-planning for Real-time Grasping Objects off a Conveyor


Mar 19, 2020
Fahad Islam, Oren Salzman, Aditya Agraval, Maxim Likhachev


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Planning and Execution using Inaccurate Models with Provable Guarantees


Mar 15, 2020
Anirudh Vemula, Yash Oza, J. Andrew Bagnell, Maxim Likhachev

* Code at https://github.com/vvanirudh/CMAX and video at https://youtu.be/eQmAeWIhjO8 

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Planning with Selective Physics-based Simulation for Manipulation Among Movable Objects


Mar 15, 2020
Muhammad Suhail Saleem, Maxim Likhachev

* 2020 IEEE International Conference on Robotics and Automation (ICRA) 

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Planning, Learning and Reasoning Framework for Robot Truck Unloading


Oct 21, 2019
Fahad Islam, Anirudh Vemula, Sung-Kyun Kim, Andrew Dornbush, Oren Salzman, Maxim Likhachev


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Driving in Dense Traffic with Model-Free Reinforcement Learning


Sep 15, 2019
Dhruv Mauria Saxena, Sangjae Bae, Alireza Nakhaei, Kikuo Fujimura, Maxim Likhachev


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A Planning Framework for Persistent, Multi-UAV Coverage with Global Deconfliction


Aug 27, 2019
Tushar Kusnur, Shohin Mukherjee, Dhruv Mauria Saxena, Tomoya Fukami, Takayuki Koyama, Oren Salzman, Maxim Likhachev

* 12th Conference on Field and Service Robotics, 2019 

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Provable Indefinite-Horizon Real-Time Planning for Repetitive Tasks


Apr 11, 2019
Fahad Islam, Oren Salzman, Maxim Likhachev


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Effective Footstep Planning Using Homotopy-Class Guidance


Apr 10, 2019
Vinitha Ranganeni, Sahit Chintalapudi, Oren Salzman, Maxim Likhachev

* 17 pages, 8 figures 

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Online, interactive user guidance for high-dimensional, constrained motion planning


Jul 20, 2018
Fahad Islam, Oren Salzman, Maxim Likhachev


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A Single-Planner Approach to Multi-Modal Humanoid Mobility


Jan 30, 2018
Andrew Dornbush, Karthik Vijayakumar, Sameer Bardapurkar, Fahad Islam, Maxim Likhachev


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PERCH: Perception via Search for Multi-Object Recognition and Localization


Mar 16, 2016
Venkatraman Narayanan, Maxim Likhachev

* 8 pages, International Conference on Robotics and Automation (ICRA), 2016 

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