“…Motivated by the problem of having a robot discover the shape of an object by touching it [14], there is considerable amount of related work in the computational geometry literature on discovering polygonal and polyhedral shapes from probing (e.g., see [5,6,9,11,19,21,26,33,42,41]). Rather than review all of this work in detail, we refer the interested reader to the survey and book chapter by Skiena [40,43], and simply mention that, with the notable exception of work by Dobkin et al [19], this prior work is primarily directed at discovering obstacles in a two-dimensional environment using various kinds of contact probes.…”