Class 16 (May 29) : MOTION PLANNING FOR DEFORMABLE OBJECTS

Topics:

- Flexible objects
- Dealing with energy function
- Molecular conformation space, folding and binding motions
- Analysis of multiple pathways
Required Readings:
- Planning the motion of an elastic objects:
  F. Lamiraux and L.E. Kavraki. Planning Paths for Elastic Objects Under Manipulation Constraints. Int. J. Robotics Research, 20(3):188-208, 2001. pdf.
- Study of the folding pathways of a protein:
  S.M. Apaydin, D.L. Brutlag, C. Guestrin, D. Hsu, and J.C. Latombe. Stochastic Roadmap Simulation: An Efficient Representation and Algorithm for Analyzing Molecular Motion. Proc. RECOMB'02, Washington D.C., 2002, to apear. pdf
Other Readings:
- Protein folding:
  G. Song and N.M. Amato. A Motion Planning Approach to Folding: From Paper Craft to Protein Structure Prediction. Manuscript, 1999. ps file.
Powerpoint slides:
- Introduction
- Paper 1
- Paper 2