Computational Polygonal Entanglement Theory

  title={Computational Polygonal Entanglement Theory},
  author={Godfried T. Toussaint},
In this paper we are concerned with motions for untangling polygonal linkages (chains, polygons and trees) in 2 and 3 dimensions. We say that an open, simple polygonal chain can be straightened if it can be continuously reconngured to a sequence of collinear segments in such a way that the rigidity and length of each link and the simplicity of the entire chain are maintained throughout the motion. For a closed chain (simple polygon) untangling means convexiication: reconnguration to a convex… CONTINUE READING

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