1. CS 326 A: Motion Planning http://robotics.stanford.edu/~latombe/cs326/2002 Motion Planning for Deformable Objects

2.  So far, the world was assumed to be made of rigid objects  Extensions to deformable objects:  Deformable moving objects (e.g., cable harness)  Deformable obstacles (e.g., human-body tissue structures)  Need for physical model

3. First Paper: Planning the motion of an elastic objects (Lamiraux and Kavraki) Energy model Mass-spring model

4. Second Paper: Study of Molecular Pathways (Apaydin et al)