1. CS 326 A: Motion Planning http://robotics.stanford.edu/~latombe/cs326/2004 Criticality-Based Planning

2. Trapezoidal decomposition

3. Voronoi Diagram

4. Criticality-Based Planning  Define a property P  Decompose the configuration space into “regular” regions (cells) over which P is constant.  Use this decomposition for planning  Issues: - What is P? It depends on the problem - How to use the decomposition?  Approach is practical only in low-dimensional spaces: - Complexity of the arrangement of cells - Sensitivity to floating point errors

5. Topics of the Class  Paper 1: Assembly Planning P = blocking relation  Non-directional blocking graph  Paper 2: Target finding P = visibility property  Information-state graph