Publications [#10034] of John Harer

Papers Published

1. P. Agarwal, A. Collins and J. Harer, Minimal Trap Design, Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA), (2001)
   (last updated on 2004/12/15)

   Abstract:
   This paper addresses the issue of trap design for sensor-less automated assembly. First we present a simple algorithm that determines in O(nm \alpha(nm)log(nm)) time whether an n-sided polygon part will fall through an m-sided polygonal trap. We then introduce the notion of a minimal trap for a polygon part, and develop an algorithm to design a family of minimal feeders built from these traps. The algorithm runs in O(k n^{3+\epsilon}) time, where k is the number of stable orientations of P. Moreover, it is complete in the sense that we can always find a feeder, provide that one exists, that rejects and supports any chosen poses of the part.