= Introduction =

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

= Links =

 * [[http://www.cs.cmu.edu/~maxim/ | Maxim Likhachev's Site]]
 * [[http://www.cs.cmu.edu/~maxim/publications.html | Publications that describe the algorithms presented here in more depth]]
 * [[http://ros.org/wiki/sbpl | SBPL Wiki]]
 * [[https://code.ros.org/svn/wg-ros-pkg/stacks/motion_planners/trunk/sbpl/ | SBPL Repo]]
 * [[http://www.ros.org/doc/api/sbpl/html/index.html | 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 - {theta,,1,,, theta,,2,,, ... , theta,,7,,}