Math @ Duke

Publications [#235618] of Pankaj K. Agarwal
Papers Published
 Agarwal, PK; Berretty, RP; Collins, AD, A nearquadratic algorithm for fence design,
Springer Tracts in Advanced Robotics, vol. 7 STAR
(2004),
pp. 347362, ISSN 16107438 [doi]
(last updated on 2018/10/23)
Abstract: A part feeder is a mechanism that receives a stream of identical parts in arbitrary orientations and putputs them oriented the same way. Various sensorless part feeders have been proposed in the literature. The feeder we consider consists of a sequence of fences that extend partway across a conveyor belt; a polygonal part P carried by the belt is reoriented by each fence it encounters. We present an O(m + n 2log 3 n)time algorithm to compute a sequence of fences that uniquely orients P, if one exists, where m is the total number of vertices and n is the number of stable edges of P. As in [3], we reduce the problem to searching for a path in a state graph that has O(n 3) edges. By exploiting various geometric properties of the state graph, we show that it can be represented implicitly and a desired path can be found in O(m + n 2log 3 n) time. Our technique is quite general and is applicable to other part manipulation problems. © 2004 SpringerVerlag.


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