Introduction

Maxim Likhachev is a Research Assistant Professor with the Robotics Institute at Carnegie Mellon University.

Links

• Maxim Likhachev's Site

• Publications that describe the algorithms presented here in more depth

• SBPL Wiki

• SBPL Repo

• SBPL API

SBPL

Graph Searches

• Anytime Dynamic A* (AD*)
• Anytime Repairing A* (ARA*)
• Randomized A* (R*)
• Probabilistic Planning with Clear Preferences (PPCP)

Environments

• 2D Grid - {x,y}
• 3D Lattice - {x,y,theta}
• Cart Pushing - {x,y,theta,cart-angle}

• Manipulation - {theta₁, theta₂, ... , theta₇}