Class #11: Criticality-Based Motion Planning –
         Assembly Planning and Stereotaxic Radiosurgery



Four pictures (left) illustrating assembly planning and the concept of a blocking relation. On the right, a stereotaxic radiosurgical system.

  • Topics
    - Application of criticality-based planning to assembly planning: motion space, blocking relation, and non-directional blocking graph
    - Application of criticality-based planning to radiosurgical planning.
  • Required Readings:
    • The non-directional blocking graph approach to assembly planning:
      R.H. Wilson and J.C. Latombe. Geometric Reasoning About Assembly. Artificial Intelligence, 71(2), 1994 [pdf]
    • Stereotaxic radiosurgery:
      A. Schweikard, J.R. Adler, and J.C. Latombe. Motion Planning in Stereotaxic Radiosurgery. IEEE Transactions on Robotics and Automation, 9(6):764-774, 1993 [pdf]
  • Other Readings:
    • Related assembly planners:
      - S.G. Kaufman, R.H. Wilson, R.E. Jones, T.L. Calton, and A.L. Ames. The Archimedes 2 Mechanical Assembly Planning System. Proceedings of the IEEE International Conference on Robotics and Automation, pages 3361-3368, 1996. [pdf]
      - B. Romney. Atlas: An Automatic Assembly Sequencing and Fixturing System. Proceedings of the International Conference on the Theory and Practice of Geometric Modelling, W. Strasser, R. Klein, and R. Rau (eds.), Springer-Verlag, pages 397-415, 1997. [pdf]
  • Powerpoint slides:

o   Introduction