1. CS 326A: Motion Planning ai.stanford.edu/~latombe/cs326/2007/index.htm Criticality-Based Motion Planning

2. Trapezoidal decomposition

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 this class and the next one  Target finding  Information (or belief) state/space  Part orientation  Sensorless reduction of uncertainty  Assembly planning  Path space  Stereotaxic radiosurgery