1. Sorting Parts with a Simple Sensor
“Active Sensing: Shape from Diameter”

3. ______________________________________
Related Work
Convex Geometry: (Yaglom, ‘61)
Geometric Probing: (Skiena ‘88; Canny ‘92)
Interpretation Trees: (Gaston, TLP, Grimson ‘84; Ellis ‘87)
Game with Nature: (Taylor, Mason, Goldberg ‘87)
The Bad News!!!
Some Parts Cannot be Distinguished by Grasping
Deciding if a Minimal Polygon Exists is NP - Complete

4. Polygons with Identical Diameter Function

5. The Good News (Rao and Goldberg 1994)
Given a Set of Distinguishable Part Shapes:
Random Grasping with Bayesian Estimator
Clever Grasping Strategies
- Planning Suboptimal Strategy: O (n2 log n)
- Planning Optimal Strategy: O (n4 2n)