Duke Applied Mathematics

Publications [#243587] of John Harer

Papers Published

1. Agarwal, PK; Collins, AD; Harer, JL, Minimal trap design, Proceedings - IEEE International Conference on Robotics and Automation, vol. 3 (January, 2001), pp. 2243-2248, IEEE [doi]
   (last updated on 2024/04/24)

   Abstract:
   This paper addresses the issue of trap design for sensorless automated assembly. First, we present a simple algorithm that determines in O(nm α(nm) log(nm)) time whether an n-sided polygonal part will fall through an m-sided polygonal trap. We then introduce the notion of a minimal trap for a polygonal part, and develop an algorithm to design a family of minimal feeders built from these traps. The algorithm runs in O(kn3+ε) 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, provided that one exists that rejects and supports the appropriate poses of the part.