| This thesis is an investigation into unfolding polylines using an energy-based model with particle swarm optimization. Existing algorithms for unfolding polylines have specific constraints and requirements which limit their general-case usability. We have used particle swarm optimization, a stochastic optimization technique, to develop an algorithm to unfold polylines in the general case. Analysis of experimental timing data for unfolding polyrods shows that this algorithm executes in polynomial time. We can then apply this algorithm to untie ropes by modeling ropes as "thick polylines," or polyrods. |
