CS 326 A: Motion PlanningTrapezoidal decompositionVoronoi DiagramCriticality-Based PlanningTopics of the ClassCS 326 A: Motion CS 326 A: Motion PlanningPlanninghttp://robotics.stanford.edu/~latombe/cs326/2004Criticality-Based Criticality-Based PlanningPlanningTrapezoidal decompositionTrapezoidal decompositionVoronoi DiagramVoronoi DiagramCriticality-Based PlanningCriticality-Based PlanningDefine a property PDecompose the configuration space into “regular” regions (cells) over which P is constant.Use this decomposition for planningIssues: - 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 errorsTopics of the ClassTopics of the ClassPaper 1: Assembly PlanningP = blocking relation Non-directional blocking graphPaper 2: Target findingP = visibility property Information-state
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