R. P. Berretty, K. Goldberg, M. H. Overmars, and A. F. van der Stappen. Algorithms for fence design. In Proc. 4th Int. Workshop on Algorithmic Foundations of Robotics (pre-prints), 1998. Home/Search Document Details and Download
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Flexible Part Orienting Using Rotation Direction and.. - Rusaw, Gupta, Payandeh (2001) (Correct)
....improved on this idea by designing curved fences which further reduce the uncertainty in part orientation to a specific single orientation. Recently, a complete algorithm for planning O(n ) length curved fence assemblies has been presented by Berretty, Goldberg, Overmars and van der Stappen [BGOvdS98] for the frictionless case. Brost [Bro88] showed how to plan parallel jaw grasping motions to orient a part in the presence of uncertainty. Using Mason s results he was able to show the behaviour (final grasped orientation) of a part being grasped by a parallel jaw gripper. Goldberg [Gol93] ....
R. P. Berretty, K. Goldberg, M. H. Overmars, and A. F. van der Stappen. Algorithms for fence design. In Proc. 4th Int. Workshop on Algorithmic Foundations of Robotics (pre-prints), 1998.
Orienting Polygons with Fences Over a Conveyor Belt.. - Rusaw, Gupta, Payandeh (Correct)
....Goldberg [7] developed the backchaining algorithm to plan a series of parallel jaw motions to orient a polygon. Akella,Huang, Lynch and Mason [4] have developed a system that orients an object on a conveyor using a single fence with 1 DOF. Berretty, Goldberg, Overmars and van der Stappen [10] examined a similar problem (curved fences) and found O(n 2 ) length solutions for the frictionless case. The sensorless techniques operate on the principle that after a single manipulation, the object will be in a small subset of all possible orientations. Orientation occurs by planning a ....
R.P.Berretty et.al, "Algorithms for Fence Design," Proc. of 4th Int. Work. on Algorithmic Foundations of Robotics, 1998
Geometry and Part Feeding - van der Stappen, Berretty, Goldberg, .. (2001) Self-citation (Berretty Goldberg Overmars Van der stappen) (Correct)
....a fence of the given type starting with the given stable orientation. The algorithm should terminate as soon as one of the 21 I intervals has shrunk to a single orientation. Updating the candidate intervals can be accomplished in (log n) time per interval using a range tree data structure (see [10] for details) Theorem 4. Let P be a polygonal part with n vertices. A shortest fence design that orients P up to symmetry can be computed in O(knlogn) time, where k is the length of the resulting fence design. The output sensitive algorithm will in most cases be more efficient than the simpler ....
R-P. Berretty, K. Y. Goldberg, M. H. Overmars, and A. F. van der Stappen. Algorithms for fence design. In Robotics, the algorithmic perspective, pages 279295. A.K. Peters, 1998.
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