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

o Paper 1

o Paper 2