Planning Under Topological Constraints Using Beam-GraphsVenkatraman Narayanan, Paul Vernaza, Maxim Likhachev, Steven M LaValleICRA 2013📄 PDF
Efficiently finding optimal winding-constrained loops in the planePaul Vernaza, Venkatraman Narayanan, Maxim LikhachevRSS 2012📄 PDF
Search-based Planning for a Legged Robot over Rough TerrainPaul Vernaza, Maxim Likhachev, Subhrajit Bhattacharya, Sachin Chitta, Aleksandr Kushleyev, Daniel D. LeeICRA 2009📄 PDF