Casting a polyhedron with directional uncertainty (Q1405007)

Directional uncertainty considered in motion planning and robotics is analyzed for the following case: given a three-dimensional polyhedral object it is search a polyhedral cast such that its two parts can be removed in opposite directions with a specific uncertainty without damage to the object or the cast parts. Some necessary and sufficient conditions for castability are given. An algorithm that verifies castability and produces two polyhedral cast parts for a polyhedral object of arbitrary genus is also described. For the case when the removal direction is not specified in advance a second algorithm is proposed: it finds all feasible removal directions with a specific uncertainty. The algorithm complexity is also discussed.