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For question borderline with, or having application to, computer science. Consider also posting http://cs.stackexchange.com/ or http://cstheory.stackexchange.com/ instead of here, if appropriate.

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When can a freely moving sphere escape from a 'cage' defined by a set of impassible coordina...

Replace the pins by balls of radius $R_{ball}$ and the ball by a point. This is a logically equivalent formulation. The question, then, is: given a finite set of balls, $B_1$, $B_2$, ...., $B_k$ in $\ …
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