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