sbpl · PegasusGTV · May 11, 2026 · May 11, 2026 · May 11, 2026 · May 12, 2026
diff --git a/.gitattributes b/.gitattributes
@@ -0,0 +1,6 @@
+static/archive/legacy-drupal/media/videos/*.mp4  filter=lfs diff=lfs merge=lfs -text
+static/archive/legacy-drupal/media/videos/*.mov  filter=lfs diff=lfs merge=lfs -text
+static/archive/legacy-drupal/media/videos/*.wmv  filter=lfs diff=lfs merge=lfs -text
+static/archive/legacy-drupal/media/videos/*.avi  filter=lfs diff=lfs merge=lfs -text
+static/archive/legacy-drupal/data/raw/*.sql      filter=lfs diff=lfs merge=lfs -text
+static/archive/legacy-drupal/data/raw/*.sql.gz   filter=lfs diff=lfs merge=lfs -text
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1,14 @@
+# Hugo
+public/
+resources/
+.hugo_build.lock
+
+# Editors
+.vscode/
+.idea/
+*.swp
+*.swo
+
+# OS
+.DS_Store
+Thumbs.db
diff --git a/LEGACY_LFS.md b/LEGACY_LFS.md
@@ -0,0 +1,110 @@
+# Legacy Drupal Import — Files Tracked for Git LFS
+
+The legacy `sbpl.net` Drupal 7 import (see the
+`feat(legacy): import sbpl.net content` PR) drops the entire extracted
+snapshot into `static/archive/legacy-drupal/`. Two subdirectories
+contain assets too large to commit as ordinary blobs:
+
+| Path | Size | Status in repo |
+|------|------|----------------|
+| `static/archive/legacy-drupal/media/videos/` | ~585 MB (4 `.mp4` + 1 `.wmv`) | **Scaffold only** — `.gitattributes` is ready; needs a maintainer with push access to `sbpl/sbpl.github.io` to add the binaries (see folder's README) |
+| `static/archive/legacy-drupal/data/raw/`     | ~184 MB (2 `.sql`)            | **Held back** — also needs PII sanitisation before any LFS push (see folder's README) |
+
+### Why the videos couldn't be added from the fork
+
+GitHub does not allow **public forks** to upload new objects to LFS
+storage — the fork shares its LFS namespace with the upstream parent,
+and upstream-write permission is required to push new blobs. The PR
+was opened from `PegasusGTV/sbpl.github.io` (a public fork) by a
+contributor whose account is a member of the `sbpl` org but doesn't
+hold individual push permission on `sbpl/sbpl.github.io`.
+
+The fix is simple: after the PR is merged (or before, on this same
+branch), any maintainer with push access to `sbpl/sbpl.github.io`
+clones the repo, drops the `.mp4` / `.wmv` files into
+`static/archive/legacy-drupal/media/videos/`, and commits. The
+`.gitattributes` rules already route those file types to LFS
+automatically, so the commit-and-push step is one line each.
+The full step-by-step is in
+[`static/archive/legacy-drupal/media/videos/README.md`](static/archive/legacy-drupal/media/videos/README.md).
+
+### Videos (5 files)
+
+| File                       | Size    |
+|----------------------------|---------|
+| `manip1_collect.mp4`       | ~241 MB |
+| `sbpl_flight_march17.mp4`  | ~207 MB |
+| `icra2_HD.mp4`             | ~122 MB |
+| `beam_graphs.mp4`          | ~9 MB   |
+| `crashes1.wmv`             | ~6 MB   |
+
+### SQL dumps (held back)
+
+The two raw MySQL dumps (`dump-2018-04-12.sql`, `drupal_dump.sql`) are
+**not** committed in this PR even though the `.gitattributes` rules
+are in place. They contain real lab-member emails, password hashes,
+IP addresses, the 27 466 spam-bot registrations, and the
+SMTP/private/cron keys that the rest of this archive has already
+redacted. See
+[`static/archive/legacy-drupal/data/raw/README.md`](static/archive/legacy-drupal/data/raw/README.md)
+for the sanitisation checklist.
+
+## Adding the SQL dumps later (after sanitisation)
+
+```bash
+# 1. Make sure git-lfs is installed locally
+git lfs install
+
+# 2. Tracking rules are already in .gitattributes:
+#    static/archive/legacy-drupal/data/raw/*.sql filter=lfs ...
+
+# 3. Drop the sanitised dumps in (see data/raw/README.md for what to strip)
+cp /path/to/sanitised/dumps/*.sql \
+   static/archive/legacy-drupal/data/raw/
+
+# 4. Commit
+git add static/archive/legacy-drupal/data/raw/*.sql
+git commit -m "feat(archive): add sanitised Drupal dumps via LFS"
+git push
+```
+
+## GitHub LFS storage / bandwidth budget — important
+
+GitHub LFS pricing as of 2025: each account (user or org) gets
+**1 GB of LFS storage** and **1 GB of LFS bandwidth/month** by default.
+The five SBPL videos total ~585 MB, which fits in the free quota
+comfortably for **storage**, but a few things to be aware of for
+**bandwidth**:
+
+1. **Every GitHub-Actions build (Hugo deploy) that fetches LFS will
+   eat bandwidth.** The current `.github/workflows/deploy.yml` does
+   **not** pull LFS by default, so site deploys won't accidentally
+   drain the 1 GB/month quota — but the trade-off is that the videos
+   won't be available at `/archive/legacy-drupal/media/videos/*.mp4`
+   on the live site. To serve them publicly, add `with: lfs: true` to
+   the `actions/checkout@v4` step in `deploy.yml`, **and** confirm
+   that the `sbpl` org has enough bandwidth budget.
+
+2. **Cheaper alternative:** keep the LFS scaffold (this README + the
+   `.gitattributes` rules) but host the actual `.mp4` blobs on a
+   neutral mirror like the Internet Archive or CMU Box, and edit the
+   `/videos/` page to link directly to those external URLs. The
+   YouTube embeds already on `/videos/` are usually enough for
+   reviewers — the raw `.mp4`s exist mostly for archival and
+   re-encoding purposes.
+
+## What is in the snapshot
+
+See `static/archive/legacy-drupal/README.md` and
+`static/archive/legacy-drupal/manifest.md` for the full inventory. The
+short version:
+
+- 55 page triplets (`*.md` / `*.html` / `*.json`)
+- 25 historical lab member pages (already promoted to
+  `data/members/alumni.yaml`)
+- 77 site images, 3 user avatars, 12 misc uploads (~22 MB, **committed
+  to repo** under `static/archive/legacy-drupal/media/`)
+- 5 videos (**scaffold only**; needs maintainer with `sbpl` push to commit — see `media/videos/README.md`)
+- 2 raw SQL dumps (**held back**, see `data/raw/README.md`)
+- All Drupal metadata: users, menus, taxonomies, comments, roles,
+  permissions, contact categories, text formats, ~180 site variables
diff --git a/content/contact.md b/content/contact.md
@@ -0,0 +1,37 @@
+---
+title: "Contact"
+lead: "How to reach the Search-Based Planning Lab."
+date: 2014-01-01
+---
+
+## Visit Us
+
+**Physical Address**
+
+Newell-Simon Hall (NSH)
+Carnegie Mellon University
+5000 Forbes Avenue
+Pittsburgh, PA 15213
+
+## Mail
+
+Maxim Likhachev
+Carnegie Mellon University &mdash; Robotics Institute
+5000 Forbes Avenue
+Pittsburgh, PA 15213
+
+## Stay In Touch
+
+To get updates and announcements, please join the
+[**sbpl-users** mailing list](https://groups.google.com/forum/#!forum/sbpl-users).
+
+## Email
+
+For comments, questions, or collaboration enquiries, please contact
+the lab's principal investigator, [Maxim Likhachev](mailto:maxim@cs.cmu.edu).
+
+---
+
+*The address above was updated from the original sbpl.net contact page
+(1612 Newell Simon Hall) — please confirm the current room before
+visiting in person.*
diff --git a/content/old-software.md b/content/old-software.md
@@ -0,0 +1,42 @@
+---
+title: "Old Software"
+lead: "Historical SBPL software links from the sbpl.net era (~2012–2015)."
+date: 2014-01-01
+---
+
+These links are preserved verbatim from the legacy sbpl.net "Old
+Software" page. Many of them point at SVN/Mercurial repositories or
+ROS distributions (Diamondback, Electric, Fuerte) that are no longer
+maintained, but they are kept here for completeness. For current,
+maintained software see the [Software](/software/) page.
+
+### SBPL
+
+- ROS Wiki page: [wiki.ros.org/sbpl](http://wiki.ros.org/sbpl)
+- Original repository: [kforge.ros.org/sbpl/sbpl](https://kforge.ros.org/sbpl/sbpl)
+  (now mirrored at [github.com/sbpl/sbpl](https://github.com/sbpl/sbpl))
+
+### 3-D Navigation Planner
+
+- [ros.org/wiki/sbpl_3dnav_planner](http://wiki.ros.org/sbpl_3dnav_planner)
+
+### Lattice Planner
+
+- [ros.org/wiki/sbpl_lattice_planner](http://wiki.ros.org/sbpl_lattice_planner)
+
+### Arm Planner (PR2 only)
+
+- ROS Wiki: [ros.org/wiki/sbpl_arm_planner](http://wiki.ros.org/sbpl_arm_planner)
+- ROS Diamondback: `https://mediabox.grasp.upenn.edu/svn/penn-ros-pkgs/sbpl_arm_planning/tags/diamondback/`
+- ROS Electric: `https://mediabox.grasp.upenn.edu/svn/penn-ros-pkgs/sbpl_arm_planning/branches/electric/`
+- ROS Fuerte: `https://mediabox.grasp.upenn.edu/svn/penn-ros-pkgs/sbpl_arm_planning/trunk/`
+
+### Full-Body Navigation Planner (PR2 only)
+
+- Repository: `https://sbpl.pc.cs.cmu.edu/redmine/projects/full-body-nav`
+- Documentation: [kforge.ros.org/Sushi/trac/wiki/Navigation](https://kforge.ros.org/Sushi/trac/wiki/Navigation)
+
+### Dynamic Environment Navigation Planner (SIPP)
+
+- ROS Wiki: [ros.org/wiki/sbpl_dynamic_env](http://wiki.ros.org/sbpl_dynamic_env)
+- Repository (svn): `https://mediabox.grasp.upenn.edu/svn/penn-ros-pkgs/sbpl_dynamic_env/trunk`
diff --git a/content/publications/aaprinciple-icaps06.md b/content/publications/aaprinciple-icaps06.md
@@ -0,0 +1,18 @@
+---
+title: "A New Principle for Incremental Heuristic Search: Theoretical Results"
+date: 2006-01-01
+authors:
+  - "Sven Koenig"
+  - "Maxim Likhachev"
+venue: "ICAPS 2006"
+publication_type: "workshop"
+pdf: "https://www.cs.cmu.edu/~maxim/files/aaprinciple_icaps06.pdf"
+abstract_html: "https://www.cs.cmu.edu/~maxim/files/aaprinciple_icaps06_abs.html"
+draft: false
+---
+
+Published in *Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), Poster Abstract, 2006*.
+
+<!-- Canonical citation sourced from Maxim Likhachev's CMU publications page
+(https://www.cs.cmu.edu/~maxim/publications.html). If you spot an error, edit
+this file's frontmatter and submit a PR. -->
diff --git a/content/publications/ad-aij08-preprint.md b/content/publications/ad-aij08-preprint.md
@@ -0,0 +1,21 @@
+---
+title: "Anytime Search in Dynamic Graphs"
+date: 2008-01-01
+authors:
+  - "Maxim Likhachev"
+  - "Dave Ferguson"
+  - "Geoff Gordon"
+  - "Anthony Stentz"
+  - "Sebastian Thrun"
+venue: "AIJ 2008"
+publication_type: "journal"
+pdf: "https://www.cs.cmu.edu/~maxim/files/ad_aij08_preprint.pdf"
+abstract_html: "https://www.cs.cmu.edu/~maxim/files/ad_aij_abs.html"
+draft: false
+---
+
+Published in *Artificial Intelligence Journal (AIJ), 172 (14), pp. 1613-1643, September 2008*.
+
+<!-- Canonical citation sourced from Maxim Likhachev's CMU publications page
+(https://www.cs.cmu.edu/~maxim/publications.html). If you spot an error, edit
+this file's frontmatter and submit a PR. -->
diff --git a/content/publications/ad-icaps05.md b/content/publications/ad-icaps05.md
@@ -0,0 +1,22 @@
+---
+title: "Anytime Dynamic A*: An Anytime, Replanning Algorithm"
+date: 2005-01-01
+authors:
+  - "Maxim Likhachev"
+  - "Dave Ferguson"
+  - "Geoff Gordon"
+  - "Anthony Stentz"
+  - "Sebastian Thrun"
+venue: "ICAPS 2005"
+award: "Influential Paper Award at ICAPS'17"
+publication_type: "conference"
+pdf: "https://www.cs.cmu.edu/~maxim/files/ad_icaps05.pdf"
+abstract_html: "https://www.cs.cmu.edu/~maxim/files/ad_icaps05_abs.html"
+draft: false
+---
+
+Published in *Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS), 2005*. **Influential Paper Award at ICAPS'17.**
+
+<!-- Canonical citation sourced from Maxim Likhachev's CMU publications page
+(https://www.cs.cmu.edu/~maxim/publications.html). If you spot an error, edit
+this file's frontmatter and submit a PR. -->
diff --git a/content/publications/adaptastar-aamas05.md b/content/publications/adaptastar-aamas05.md
@@ -0,0 +1,18 @@
+---
+title: "Adaptive A*"
+date: 2005-01-01
+authors:
+  - "Sven Koenig"
+  - "Maxim Likhachev"
+venue: "AAMAS 2005"
+publication_type: "workshop"
+pdf: "https://www.cs.cmu.edu/~maxim/files/adaptastar_aamas05.pdf"
+abstract_html: "https://www.cs.cmu.edu/~maxim/files/adaptastar_aamas05_abs.html"
+draft: false
+---
+
+Published in *Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), Poster Abstract, 2005*.
+
+<!-- Canonical citation sourced from Maxim Likhachev's CMU publications page
+(https://www.cs.cmu.edu/~maxim/publications.html). If you spot an error, edit
+this file's frontmatter and submit a PR. -->
diff --git a/content/publications/aij04.md b/content/publications/aij04.md
@@ -0,0 +1,19 @@
+---
+title: "Lifelong Planning A*"
+date: 2004-01-01
+authors:
+  - "Sven Koenig"
+  - "Maxim Likhachev"
+  - "David Furcy"
+venue: "AIJ 2004"
+publication_type: "journal"
+pdf: "https://www.cs.cmu.edu/~maxim/files/aij04.pdf"
+abstract_html: "https://www.cs.cmu.edu/~maxim/files/lpa_aij04_abs.html"
+draft: false
+---
+
+Published in *Artificial Intelligence Journal (AIJ), 155(1-2), pp. 93-146, 2004*.
+
+<!-- Canonical citation sourced from Maxim Likhachev's CMU publications page
+(https://www.cs.cmu.edu/~maxim/publications.html). If you spot an error, edit
+this file's frontmatter and submit a PR. -->
diff --git a/content/publications/airgroundexploration-iros15.md b/content/publications/airgroundexploration-iros15.md
@@ -0,0 +1,18 @@
+---
+title: "3-D Exploration with an Air-Ground Robotic System"
+date: 2015-01-01
+authors:
+  - "Jonathan Butzke"
+  - "Andrew Dornbush"
+  - "Maxim Likhachev"
+venue: "IROS 2015"
+publication_type: "conference"
+pdf: "https://www.cs.cmu.edu/~maxim/files/airgroundexploration_iros15.pdf"
+draft: false
+---
+
+Published in *Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015*.
+
+<!-- Canonical citation sourced from Maxim Likhachev's CMU publications page
+(https://www.cs.cmu.edu/~maxim/publications.html). If you spot an error, edit
+this file's frontmatter and submit a PR. -->
diff --git a/content/publications/anytimefootstepplanner-humanoids12.md b/content/publications/anytimefootstepplanner-humanoids12.md
@@ -0,0 +1,19 @@
+---
+title: "Anytime Footstep Planning with Suboptimality Bounds"
+date: 2012-01-01
+authors:
+  - "Armin Hornung"
+  - "Andrew Dornbush"
+  - "Maxim Likhachev"
+  - "Maren Bennewitz"
+venue: "Humanoids 2012"
+publication_type: "conference"
+pdf: "https://www.cs.cmu.edu/~maxim/files/anytimefootstepplanner_humanoids12.pdf"
+draft: false
+---
+
+Published in *Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2012*.
+
+<!-- Canonical citation sourced from Maxim Likhachev's CMU publications page
+(https://www.cs.cmu.edu/~maxim/publications.html). If you spot an error, edit
+this file's frontmatter and submit a PR. -->
diff --git a/content/publications/anytimeincrementalegraphs-icra13.md b/content/publications/anytimeincrementalegraphs-icra13.md
@@ -0,0 +1,19 @@
+---
+title: "Anytime Incremental Planning with E-Graphs"
+date: 2013-01-01
+authors:
+  - "Mike Phillips"
+  - "Andrew Dornbush"
+  - "Sachin Chitta"
+  - "Maxim Likhachev"
+venue: "ICRA 2013"
+publication_type: "conference"
+pdf: "https://www.cs.cmu.edu/~maxim/files/anytimeincrementalegraphs_icra13.pdf"
+draft: false
+---
+
+Published in *Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2013*.
+
+<!-- Canonical citation sourced from Maxim Likhachev's CMU publications page
+(https://www.cs.cmu.edu/~maxim/publications.html). If you spot an error, edit
+this file's frontmatter and submit a PR. -->
diff --git a/content/publications/anytimemha-socs19.md b/content/publications/anytimemha-socs19.md
@@ -0,0 +1,20 @@
+---
+title: "A-MHA*: Anytime Multi-Heuristic A*"
+date: 2019-01-01
+authors:
+  - "Ramkumar Natarajan"
+  - "Muhammad Suhail Saleem"
+  - "Sandip Aine"
+  - "Maxim Likhachev"
+  - "Howie Choset"
+venue: "SoCS 2019"
+publication_type: "workshop"
+pdf: "https://www.cs.cmu.edu/~maxim/files/anytimemha_socs19.pdf"
+draft: false
+---
+
+Published in *Two-page abstract in Proceedings of the International Symposium on Combinatorial Search (SoCS), 2019*.
+
+<!-- Canonical citation sourced from Maxim Likhachev's CMU publications page
+(https://www.cs.cmu.edu/~maxim/publications.html). If you spot an error, edit
+this file's frontmatter and submit a PR. -->