Class #9: Criticality-Based Motion Planning –
Target Finding and Part Orientation
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The picture on the right shows two mobile robots (black dots) searching for an intruder (target) in a polygonal environment. The three pictures on the right illustrate sensorless part orientation.

• Topics
  - Principles of criticality-based planning
  - Application to finding an evasive target in a polygonal environment
  - Planning in a belief/information space
  - Application to automatic part orientation with a two-jaw gripper
  - Taking advantages of task mechanics
• Required Readings:
• Target finding:
  S.M. LaValle, D. Lin, L.J. Guibas, J.C. Latombe, and R. Motwani. Visibility-Based Pursuit-Evasion in a Polygonal Environment. Proc. 5th Workshop on Algorihtms and Data Structures (WADS'97), pages 17--30. Springer Verlag, 1997 [pdf]
  +
  S.M. LaValle, D. Lin, L.J. Guibas, J.C. Latombe, and R. Motwani. Finding an Unpredictable Target in a Workspace with Obstacles. Proc. IEEE Int'l Conf. on Robotics and Automation, pages 737--742, 1997 [pdf]
• Part orientation:
  K. Goldberg. Orienting Polygonal Parts without Sensors. Algorithmica, 10(3):201-225, 1993 [pdf]
• Powerpoint slides:

o Introduction

o Paper 1

o Paper 2