International Publications

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"Il n'y a de vraiment beau que ce qui ne peut servir à rien;
tout ce qui est utile est laid, car c'est l'expression de quelque besoin,
et ceux de l'homme sont ignobles et dégoûtants, comme sa pauvre et infirme nature."

Théophile Gautier, Mademoiselle de Maupin (1880)

"Algebra is the offer made by the devil to the mathematician. The devil
says: “I will give you this powerful machine, and it will answer any
question you like. All you need to do is give me your soul: give up
geometry and you will have this marvellous machine.” . . . the danger
to our soul is there, because when you pass over into algebraic
calculation, essentially you stop thinking: you stop thinking geometrically,
you stop thinking about the meaning."

Sir Michael Francis Atiyah, Collected works. Vol. 6. (2006)

In the pipeline

• F. Thomas, "James J. Sylvester and the Involution of Six Lines".
  
• F. Thomas and A.B. Martínez, "Advanced Topics in Robot Kinematics in Python".
• J. Franch and F. Thomas, "Formulating the Unicycle on the Sphere Path Planning Problem as a Linear Time-Varying System".
• F. Thomas and J. M. Porta, "The Inverse Kinematics of Lobster Arms".
  

2024

• F. Thomas, "Fixed Points in Distance Recurrence Formulas", The 19th international Symposium on Advances in Robot Kinematics (ARK 2024), Ljubljana, Slovenia, 2024.
  
• J. M. Porta and F. Thomas, "Finding the Common Tangents to Four Spheres via Dimensionality Reduction," The 19th international Symposium on Advances in Robot Kinematics (ARK 2024), Ljubljana, Slovenia, 2024.

2023

• S. Sarabandi and F. Thomas, "Solution Methods to the Nearest Rotation Matrix Problem in R^3: A Comparative Survey," Numerical Linear Algebra with Applications, 2023. DOI: 10.1002/nla.2492.
• F. Thomas, "New Bracket Polynomials Associated with the General Gough-Stewart Parallel Robot Singularities," IEEE International Conference on Robotics and Automation, ICRA 2023, May 29 - Jun 2, 2023, London, UK. Best paper award finalish.
  
• F. Thomas and B. Bongardt, "Ellipse Distance Geometry and the Design of 3R Robots", 16th IFToMM World Congress (WC2023), Tokyo, Japan, November 5-10, 2023.
  
• B. Bongardt and F. Thomas, "On Ellipse Intersections by Means of Distance Geometry", 16th IFToMM World Congress (WC2023), Tokyo, Japan, November 5-10, 2023.

2022

• S. Sarabandi and F. Thomas, "Approximating Displacements in R^3 by Rotations in R^4 and its Application to Pointcloud Registration," IEEE Transactions on Robotics,  Vol. 38, No. 4, pp. 2652-2664, 2022. DOI: 10.1109/TRO.2021.3128328.
• S. Sarabandi, J.M. Porta, and F. Thomas,  "Hand-Eye Calibration Made Easy through a Closed-Form Two-Stage Method," IEEE Robotics and Automation Letters, Vol. 7, No. 2, pp. 3679-3686, 2022. DOI: 10.1109/LRA.2022.3146943
  
• F. Thomas, "Kinematics of a Gear-Based Spherical Mechanism," In: Altuzarra, O., Kecskeméthy, A. (eds) Advances in Robot Kinematics 2022. ARK 2022. Springer Proceedings in Advanced Robotics, vol 24. Springer, Cham. DOI: 10.1007/978-3-031-08140-8_35. Best paper award. Simulation.
  
• F. Thomas and J. M. Porta, "The Distance Geometry of the Generalized Lobster's Arm," In: Altuzarra, O., Kecskeméthy, A. (eds) Advances in Robot Kinematics 2022. ARK 2022. Springer Proceedings in Advanced Robotics, vol 24. Springer, Cham. DOI: 10.1007/978-3-031-08140-8_44
• S. Sarabandi and F. Thomas, "On closed-form solutions to the 4D nearest rotation matrix problem," Mathematical Methods in the Applied Sciences, 2022. DOI: 10.1002/mma.8524
  

2021

• T. Marchi, G. Mottola, J. M. Porta, F. Thomas, and M. Carricato, “Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector,” Machines, Vol. 9, No. 1, pp. 7, 2021. DOI: 10.3390/machines9010007. Best student paper award.
  
• A. Shabani, J.M. Porta, and F. Thomas, "A Branch-and-Prune Method to Solve Closure Equations in Dual Quaternions," Mechanism and Machine Theory,  Vol. 164, pp. 104424, 2021. DOI: 10.1016/j.mechmachtheory.2021.104424
• S. Sarabandi and F. Thomas, "On Closed-Form Solutions to the 4D Nearest Rotation Matrix Problem," 8th Conference on Applied Geometric Algebras in Computer Science and Engineering (AGACSE 2021), Brno, Czech Republic, September 6-10, 2021.
  
• S. Sarabandi and F. Thomas, "A Spectral Decomposition Approach to the Accurate Conversion of 4D Rotation Matrices to Double Quaternions," 8th Conference on Applied Geometric Algebras in Computer Science and Engineering (AGACSE 2021), Brno, Czech Republic, September 6-10, 2021.

2020

• S. Sarabandi, A. Shabani, J.M. Porta, and F. Thomas, "On Closed-Form Formulas for the 3D Nearest Rotation Matrix Problem," IEEE Transactions on Robotics, Vol. 36, No. 4, pp. 1333-1339, 2020. (Matlab and C++ code). DOI: 10.1109/TRO.2020.2973072
• F. Thomas and J.M. Porta, "Clifford's Identity and Generalized Cayley-Menger Determinants," 17th International Symposium on Advances in Robot Kinematics, Ljubljana, Slovenia, June 28 - July 2, 2020. DOI: 10.1007/978-3-030-50975-0_35
• T. Marchi, G. Mottola, J. M. Porta, F. Thomas, and M. Carricato, “Position Analysis of a Class of n-RRR Planar Parallel Robots,” 3rd International Conference of IFToMM Italy (IFIT2020), Naples, Italy, 9–11 September 2020. (awarded with the Student Gold Award at IFIT2020). DOI: 10.1007/978-3-030-55807-9_40
  

2019

• S. Sarabandi and F. Thomas, "A Survey on the Computation of Quaternions from Rotation Matrices," ASME Journal of Mechanisms and Robotics, Vol. 11, No. 2, 021006, 2019 (Matlab code). DOI: 10.1115/1.4041889
• P. Grosch and F. Thomas, "Parallel Robots with Unconventional Joints," Springer, 2019. ISBN: 978-3-030-11304-9
  
• S. Sarabandi, A. Pérez-Gracia, and F. Thomas, "On Cayley's Factorization with an Application to the Orthonormalization of Noisy Rotation Matrices," Advances in Applied Clifford Algebras, pp. 29-49, July 2019.  DOI: 10.1007/s00006-019-0965-0
  
• A. Shabani, S. Sarabandi, J.M. Porta, and F. Thomas, "A Fast Branch-and-Prune Algorithm for the Position Analysis of Spherical Mechanisms," In: Uhl T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, Vol 73, pp 549-558, Springer, Cham, 2019. DOI: 10.1007/978-3-030-20131-9_55
  

2018

• J.M. Porta and F. Thomas, "Yet Another Approach to the Gough-Stewart Platform Forward Kinematics," Proc. of the IEEE International Conference in Robotics and Automation, Brisbane, Australia, 2018. DOI: 10.1109/ICRA.2018.8460900
• A. Makhal, F. Thomas, and A. Pérez-Gracia, "Grasping Unknown Objects in Clutter by Superquadric Representation," Proc. of the IEEE International Conference on Robotic Computing, Laguna Hills, CA, USA, 2018. DOI: 10.1109/IRC.2018.00062
  
• S. Sarabandi and F. Thomas, "Accurate Computation of Quaternions from Rotation Matrices," Proc. of the 16th International Symposium on Advances in Robot Kinematics, Bologna, Italy., 1-4 July, 2018. DOI: 10.1007/978-3-319-93188-3_5
  
• J.M. Porta and F. Thomas, "The Forward Kinematics of Doubly-Planar Gough-Stewart Platforms and the Position Analysis of Strips of Tetrahedra," Proc. of the 16th International Symposium on Advances in Robot Kinematics, 1-4 July, Bologna, Italy, 2018. DOI: 10.1007/978-3-319-93188-3_15
  
• S. Sarabandi, P. Grosch, J.M. Porta, and F. Thomas, "A Reconfigurable Asymmetric 3-UPU Parallel Robot," 4th IEEE/IFToMM Int. Conf. on Reconfigurable Mechanisms and Robots, Delft, The Netherlands, 20-22 June, 2018. DOI: 10.1109/REMAR.2018.8449859
  
• S. Sarabandi, A. Pérez-Gracia, and F. Thomas, "Singularity-Free Computation of Quaternions from Rotation Matrices in E^4 and E^3," 7th Conference on Applied Geometric Algebras in Computer Science and Engineering (AGACSE 2018), Campinas, Brazil, 23-27 July, 2018.
• J.M. Porta, S. Sarabandi, and F. Thomas, "Angle-Bound Smoothing with Applications in Kinematics," IFToMM Asian Mechanism and Machine Science (Asian MMS 2018), Bengaluru, India, December 17-20, 2018. DOI: 10.1007/978-981-15-4477-4_53

2017

• J.M. Porta and F. Thomas, "Closed-Form Position Analysis of Variable Geometry Trusses," Mechanism and Machine Theory, Vol 109, pp. 14–21, 2017. DOI: 10.1016/j.mechmachtheory.2016.11.004
• J.M. Porta, N. Rojas, and F. Thomas, "Distance Geometry in Active Structures," in Mechatronics for Cultural Heritage and Civil Engineering, Springer ISCA Bookseries, 2017. DOI: 10.1007/978-3-319-68646-2_5
  
• F. Thomas and A. Pérez-Gracia, "A New Insight into the Coupler Curves of the RCCC Four-Bar Linkage," 7th IFToMM International Workshop on Computational Kinematics, Poitiers, France, May 22-24, 2017. (Presentation) DOI: 10.1007/978-3-319-60867-9_63
  
• N. Rojas and F. Thomas, "Forward Kinematics of the General Triple-Arm Robot Using a Distance-Based Formulation," 7th IFToMM International Workshop on Computational Kinematics, Poitiers, France, May 22-24, 2017.  DOI: 10.1007/978-3-319-60867-9_29
  
• A. Pérez-Gracia and F. Thomas, "On Cayley's Factorization of 4D Rotations and Applications," Advances in Applied Clifford Algebras, Vol. 27, No. 1, pp 523–538, 2017. (A related presentation) DOI: 10.1007/s00006-016-0683-9
  
• M. Alberich-Carramiñana, B. Elizalde, and F. Thomas, "New Algebraic Conditions for the Identification of the Relative Position of Two Coplanar Ellipses," Computer Aided Geometric Design, Vol. 54,  pp. 35-48, 2017. DOI: 10.1016/j.cagd.2017.03.013
  
• F. Thomas and A. Pérez-Gracia, "Some New Results in the Kinematics of 3R Robots Using Nested Determinants,"ASME 2017 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2017), Cleveland, Ohio, USA, 2017. DOI: 10.1115/DETC2017-67706
  

2016

• P. Grosch and F. Thomas, "Geometric Path Planning without Maneuvers for Non-Holonomic Parallel Orienting Robots," IEEE Robotics and Automation Letters, Vol. 1, No. 2, pp. 1066-1072, July 2016. DOI: 10.1109/LRA.2016.2529688
  
• F. Thomas and J.M. Porta, "Closure Polynomials for Strips of Tetrahedra," Advances in Robot Kinematics (ARK2016), Grasse, France, June, 2016. (Presentation) DOI: 10.1007/978-3-319-56802-7_32
  
• J.M. Porta, A. Rull, and F. Thomas, "Sensor Localization from Distance and Orientation Constraints," Sensors, Vol. 16, No. 7, pp 1-19, 2016. DOI: 10.3390/s16071096
  

2015

• F. Thomas, "A Distance Geometry Approach to the Singularity Analysis of 3R Robots," ASME Journal of Mechanisms and Robotics, Vol. 8, No. 1, 011001,  August 2015. DOI: 10.1115/1.4029500
• N. Rojas, J. Borras, and F. Thomas, "On Quartically-Solvable Robots," Proc. of the IEEE International Conference in Robotics and Automation, Seattle, Washington, USA, May 26-30, 2015. DOI: 10.1109/ICRA.2015.7139374
• A. Rull, J.M. Porta, and F. Thomas, "Distance Bound Smoothing under Orientation Constraints,"  Proc. of the IEEE International Conference in Robotics and Automation, Seattle, Washington, USA, May 26-30, 2015. DOI: 10.1109/ICRA.2015.7139377
  
• A. Pérez-Gracia and F. Thomas, "Clifford Algebra Representation of Grasping and Manipulative Hand Actions for Kinematic Synthesis," Proc. of Applied Geometric Algebra in Computer Science and Engineering (AGACSE2015), Barcelona, Spain, July 29-31, 2015. DOI: 10.1109/ICRA.2015.7139374.
• N. Rojas, A. Dollar, and F. Thomas, "A Unified Position Analysis of the Dixon and the Generalized Peaucellier Linkages", Mechanism and Machine Theory, Vol. 94, pp. 28–40,  2015. DOI: 10.1016/j.mechmachtheory.2015.07.008
  

2014

• F. Thomas, "Approaching Dual Quaternions from Matrix Algebra," IEEE Transactions on Robotics, Vol. 30, No. 5, pp. 1037-1048, 2014. DOI: 10.1109/TRO.2014.2341312
  

"Beginners in the subject of quaternions are generally bewildered by the arbitrary manner in which the subject is developed. They are forcibly introduced into a new domain where the familiar rules of combination of symbols are not valid. New magnitudes are arbitrarily assumed, subject to arbitrary laws. The reader finds the logic consistent and the results concordant with those of his previous courses, but he hardly knows why. He finds himself in a new country, but thoroughly and bewilderingly uncertain as to how he got there."
 --- Arthur Latham Baker, 1911.

• F. Thomas, "Computing Cusps of 3R Robots Using Distance Geometry," 14th International Symposium on Advances in Robot Kinematics (ARK2014), Ljubljana, Slovenia, Jun 29-July 3, 2014. DOI: 10.1007/978-3-319-06698-1_1
• J. Borràs, F. Thomas, and C. Torras, "New Geometric Approaches to the Analysis and Design of Stewart-Gough Platforms," IEEE/ASME Transactions on Mechatronics, Vol. 19,  No. 2, pp. 445-455,  2014. DOI: 10.1109/TMECH.2013.2239305
• A. Rull and F. Thomas, "On Generalized Euler Angles," 5th European Conference on Mechanism Science (EUCOMES 2014), Guimarães, Portugal, September 16-20, 2014. DOI: 10.1007/978-3-319-09411-3_7
  

2013

• N. Rojas and F. Thomas, "Application of  Distance Geometry to Tracing Coupler Curves of Pin-Jointed Linkages," ASME Journal of Mechanisms and Robotics, Vol. 5, No. 2, 021001, 2013. DOI: 10.1115/1.4023515
  
• N. Rojas and F. Thomas, "The Univariate Closure Conditions of All Fully-Parallel Planar Robots Derived From a Single Polynomial," IEEE Transactions on Robotics,Vol. 29,  No. 3, pp. 758 - 765, 2013. DOI: 10.1109/TRO.2013.2242376
  
• N. Rojas and F. Thomas, "The Closure Condition of the Double Banana and Its Application to Robot Position Analysis," Proceedings of 2013 IEEE International Conference on Robotics and Automation, May 6-10, Karlsruhe, Germany, 2013. DOI: 10.1109/ICRA.2013.6631237
  
• P. Grosch and F. Thomas, "A Bilinear Formulation for the Motion Planning of Non-holonomic Parallel Orienting Platforms," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), November 3-8, Tokyo, Japan, 2013. DOI: 10.1109/IROS.2013.6696465
  
• F. Thomas and A. Pérez Gracia (eds.), Computational Kinematics, Proceedings of the 6th International Workshop on Computational Kinematics (CK2013), Springer, 2013. ISBN: 9789400772144
  

2012

• N. Rojas and F. Thomas, "On Closed-Form Solutions to the Position Analysis of Baranov Trusses," Mechanism and Machine Theory, Vol. 47, pp. 179-196, April 2012. DOI: 10.1016/j.mechmachtheory.2011.10.010
  
• N. Rojas, J. Borràs, and F. Thomas, "The Octahedral Manipulator Revisited," Proceedings of the 2012 IEEE International Conference on Robotics and Automation, May 14-18, Saint Paul, Minnesota, USA. DOI: 10.1109/ICRA.2012.6224908
• K. Tchon, J. Jakubiak, P. Grosch, and F. Thomas, "Motion Planning for Parallel Robots with Non-holonomic Joints," Advances in Robot Kinematics (ARK 2012), Innsbruck, Austria. 
  
• R. Vaca, J. Aranda, and F. Thomas, "Simplified Voronoi Diagrams for Motion Planning of Quadratically-Solvable Gough-Stewart Platforms," Advances in Robot Kinematics (ARK 2012), Innsbruck, Austria. 
  
• N. Rojas and F. Thomas, "Formulating Assur Kinematic Chains as Projective Extensions of Baranov Trusses," Mechanism and Machine Theory, Vol. 56, pp. 16–27, 2012.
• J. Borràs and F. Thomas, "On the Primal and Dual Forms of the Stewart Platform Pure Condition," IEEE Transactions on Robotics,Vol. 28, No. 6, pp. 1205-1215, 2012.

2011

• N. Rojas and F. Thomas, "Distance-Based Position Analysis of the Three Seven-Link Assur Kinematic Chains," Mechanism and Machine Theory, Vol. 46, No. 2, pp. 112-126, February 2011.
• N. Rojas and F. Thomas, "The Forward Kinematics of 3-RPR Planar Robots: A Review and a Distance-Based Formulation," IEEE Transactions on Robotics, Vol. 27, No. 1, pp. 143-150, 2011.
• F. Thomas and P. Wenger, "On the Topological Characterization of Robot Singularity Loci. A Catastrophe-Theoretic Approach," Proceedings of the 2011 IEEE International Conference on Robotics and Automation, Shanghai, China, May 9-13, 2011.
• J. Borràs, F. Thomas, and C. Torras,  "Architectural Singularities of a Class of Pentapods," Mechanism and Machine Theory, Vol. 46, No. 8, pp. 1107-1120, August 2011,
  
• N. Rojas and F. Thomas, "Closed-Form Solution to the Position Analysis of Watt-Baranov Trusses Using the Bilateration Method," ASME Journal of Mechanisms and Robotics, Vol. 3, No. 3, 031001 (10 pages), August 2011.
  
• N. Rojas and F. Thomas, "A Coordinate-Free Approach to Tracing the Coupler Curves of Pin-Joined Linkages," Proceedings of the ASME 2011 International Design Engineering Technical Conference, IDECTC/CIE 2011, Washington DC, August 28-31, 2011. Best paper award finalist.
  
• J. Borràs, F. Thomas, and C. Torras,  "Singularity-Invariant Families of a Class of 5-SPU Platforms," IEEE Transactions on Robotics, Vol. 27, No. 5, pp. 837-848, 2011.

2010

• P. Grosch, R. Di Gregorio, and F. Thomas, "Generation of Under-Actuated Manipulators with Non-Holonomic Joints from Ordinary Manipulators," ASME Journal of Mechanisms and Robotics, Vol. 2,  No.1, 2010.
  
• J. Borràs, F. Thomas, and C. Torras, "A Family of Quadratically-Solvable 5-SPU Parallel Robots," Proceedings of the 2010 IEEE International Conference on Robotics and Automation, Anchorage, Alaska, May 3 - 8, 2010. (Presentation)
  
• P. Grosch, R. Di Gregorio, J. López, and F. Thomas, "Motion Planning for a Novel Reconfigurable Parallel Manipulator with Lockable Revolute Joints," Proceedings of the 2010 IEEE International Conference on Robotics and Automation, Anchorage, Alaska, May 3 - 8, 2010.Video.
• N. Rojas and F. Thomas, "A Robust Forward Kinematics Analysis of 3-RPR Planar Platforms," in Advances in Robot Kinematics,  J. Lenarcic and M. Stanisic (editors), Springer Verlag, 2010.
• J. Borràs, F. Thomas, and C, Torras "Singularity-Invariant Leg Rearrangements in Stewart-Gough Platforms," in Advances in Robot Kinematics,  J. Lenarcic and M. Stanisic (editors), Springer Verlag, 2010.
• P. Grosch, R. Di Gregorio, and F. Thomas, "A One-Motor Full-Mobility 6-PUS Manipulator," Proceedings of the 18th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control, Udine, Italy, July 5–8, 2010. Video
• J. Borràs, F. Thomas, and C. Torras,  "Singularity-Invariant Leg Rearrangements in Doubly-Planar Stewart-Gough Platforms," Robotics Science and Systems 2010, Zaragoza, Spain, June 27-30, 2010
• N. Rojas, J, Borràs, and F. Thomas, "A Distance-Based Formulation of the Octahedral Manipulator Kinematics," IFToMM Symposium on Mechanism Design for Robotics 2010, Mexico City, Mexico, September, 28-29, 2010.
• J. Borràs and Federico Thomas, "Singularity-Invariant Leg Substitutions in Pentapods," 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan, October 18-22, 2010.
• M. Ceccarelli and F. Thomas, "A Historical Survey on the Nurember Scissors, the Precursor of Modern Deployable Mechanisms," IFToMM Workshop on History of Mechanism and Machine Science, Beijing, P.R.China, October 12-14, 2010.

2009

• M. Alberich-Carramiñana, M. Garolera, F. Thomas, and C. Torras, "Partially-Flagged Parallel Manipulators: Singularity Charting and Avoidance," IEEE Transactions on Robotics, Vol. 25, No. 4, pp. 771-784, August 2009.
• J.M. Porta, L. Ros, and F. Thomas, "A Linear Relaxation Technique for the Position Analysis of Multi-Loop Linkages," IEEE Transactions on Robotics, Vol. 25, No. 2, pp. 225-140, April 2009.
• J.M. Porta and F. Thomas, "A Concise Proof of Tienstra's Formula," Journal of Surveying Engineering-ASCE, Vol. 135, No. 4, pp. 170-172, November 2009.
• J. Borràs and F. Thomas, "Kinematics of Line-Plane Subassemblies in Stewart Platforms," Proccedings of the 2009 IEEE International Conference on Robotics and Automation, pp. 4094-4099, Kobe, Japan, May 12-17, 2009.
  
• P. Grosch, R. Di Gregorio, and F. Thomas, "Generation of Under-Actuated Parallel Robots with Non-Holonomic Joints and Kinetostatic Analysis of a Case-Study," Proc. of the ASME 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, IDETC/CIE 2009, August 30-September 2, 2009, San Diego, USA, 2009.
• J. Borràs, F. Thomas, E. Ottaviano and M. Ceccarelli, "Reconfigurable 5-DOF 5-SPU Parallel Platform," ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR), King's College of London, London, United Kingdom, June 22-24, 2009. (Robot simulation)(PowerPoint presentation).
  
• J. Borràs, F. Thomas, and C. Torras, "Straightening-Free Algorithm for the Singularity Analysis of Stewart-Gough Platforms with Collinear/Coplanar Attachments," Computational Kinematics 2009, Duisburg, Germany, May 6-8, 2009. (PowerPoint presentation).
  
• J. Borràs, F. Thomas, and C. Torras, "On Delta Transforms," IEEE Transactions on Robotics, Vol. 25, No. 6, pp. 1225-1236, 2009. (PowerPoint presentation).
  
• M. Alberich-Carramiñana, V. González, F. Thomas, and C.Torras, "Stratifications of the Euclidean Motion Group with Applications to Robotics," Geometriae Dedicata, Vol. 141, No. 1, pp. 19-32, 2009.
  

2008

• J. Andrade-Cetto and F. Thomas, "A Wire-Based Active Tracker," IEEE Transactions on Robotics, Vol. 24, No. 3, pp. 642-651, 2008.
• F. Thomas, "A Short Account of Leonardo Torres' Endless Spindle," Mechanism and Machine Theory, Vol. 43, No. 8, pp. 1055-1063, 2008.
• J. Borràs, F. Thomas, and C. Torras, "Architecture Singularities in Flagged Parallel Manipulators," Proccedings of the 2008 IEEE International Conference on Robotics and Automation, Pasadena, California, May 19-23, 2008.
  
• R. Frigola, L. Ros, F. Roure, and F. Thomas, "A Wrench-Sensitive Touch Pad Based on a Parallel Structure," Proccedings of the 2008 IEEE International Conference on Robotics and Automation, Pasadena, California, May 19-23, 2008.
• P. Ben-Horin and F. Thomas, "A Nonholonomic 3-Motor Parallel Robot," in Advances in Robot Kinematics,  J. Lenarcic and P. Wenger (editors), Springer Verlag, 2008. Corregendum Erratum: The kinetostatic analysis in this article contains a mistake, see (Grosch, Di Gregorio and Thomas, 2010).
  
• J. Borràs, F. Thomas, and C. Torrras, "Analysing the Singularities of 6-SPS Parallel Robots Using Virtual Legs," Second Int. Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Montpellier, France, September 21-22, 2008.

2007

• J.M. Porta, L. Ros, T. Creemers, and F. Thomas, "Box Approximations of Planar Linkage Configuration Spaces," Transactions of the ASME, Journal of Mechanical Design, Vol. 129, No. 4, pp. 397-405, 2007.
• J.M. Porta, L. Ros, F. Thomas, F. Corcho, J. Canto, J.J. Pérez, "Complete Maps of Molecular-Loop Conformational Spaces," Journal of Computational Chemistry, Vol. 28, No. 13,  pp. 2170-2189, 2007.
• M. Alberich, F. Thomas, and C. Torras,  "Flagged  Parallel  Manipulators," IEEE Transactions on Robotics, Vol. 23,  No. 5, pp. 1013-1023, 2007. (PowerPoint presentation).
  
• J. M. Porta, J. Cortes, L. Ros, and F. Thomas, "A Space Decomposition Method for Path Planning of Loop Linkages," IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, USA, 2007.

2006

• J.M. Porta, L. Ros, and F. Thomas, "Multiloop Position Analysis Via Iterated Linear Programming," Robotics, Science and Systems, MIT Press.
• J. Andrade-Cetto and F. Thomas, "Wire-Based Tracking Using Mutual Information," in Advances in Robot Kinematics, Mechanisms and Motion,  J. Lenarcic and B. Roth (editors), Springer Verlag, 2006.
• C. Torras, F. Thomas, and M. Alberich, "Stratifying the Singularity Loci of a Class of Parallel Manipulators," IEEE Transaction on Robotics,  Vol. 22,  No. 1,  pp. 23-32,  2006.
• M. Alberich, F. Thomas, and C. Torras, "On Redundant Flagged Manipulators," Proceedings of the 2006 IEEE International Conference on Robotics and Automation, Orlando, Florida, May 15-19, 2006. (PowerPoint presentation)
• T. Creemers, J.M. Porta, L. Ros, and F. Thomas, "Fast Multiresolutive Approximations of Planar Linkage Configuration Spaces," Proceedings of the 2006 IEEE International Conference on Robotics and Automation, Orlando, Florida, May 15-19, 2006.
• J. Martínez, J.M. Porta, and F. Thomas, "A Matrix Based Approach to the Image Moment Problem," Journal of Mathematical Imaging and Vision, Vol. 26, pp. 105-113, 2006. (Matlab file)

2005

• F. Thomas, E. Ottaviano, L. Ros, and M. Ceccarelli, "Performance Analysis of a 3-2-1 Pose Estimation Device," IEEE Transactions on Robotics, Vol. 21, No. 3, pp. 288-297, June 2005.
• J.M. Porta, L. Ros, and F. Thomas, "Inverse Kinematics by Distance Matrix Completion," International Workshop on Computational Kinematics,  May 4-6, Cassino, Italy.
• L. Ros and F. Thomas, "Geometric Methods for Shape Recovery from Line Drawings of Polyhedra," Journal of Mathematical Imaging and Vision,  Vol. 22, No. 1, pp. 5-18, 2005.
• J.M. Porta, L. Ros, F. Thomas, and C. Torras, "A Branch-and-Prune Solver for Distance Constraints," IEEE Transactions on Robotics, Vol. 21, No. 2, pp. 176-187, April 2005.
• J.M. Porta, L. Ros, and F. Thomas, "On the Trilaterable Six-Degree-of-Freedom Parallel and Serial Manipulators," Proceedings of the 2005 IEEE International Conference on Robotics and Automation, April 18-22, Barcelona.
• F. Thomas and L. Ros, "Revisiting Trilateration for Robot Localization," IEEE Transactions on Robotics, Vol. 21,  No. 1,  pp. 93-101, February 2005. (Matlab file). Corregendum Erratum: Section IV-A contains a mistake, the correct formulas will be available as soon as possible.
  

2004

• M. Roldán, F. Thomas, S. Castel, A. Quesada, and M. Hernández-Mariné, "Non invasive pigment identification in single-cells from living phototrophic biofilms by confocal imaging spectrofluorometry," Applied Environmental Microbiology, Vol. 70, No. 6, pp. 3745-3750, 2004.
• F. Thomas, "Solving Geometric Constraints by Iterative Projections and Backprojections," Proceedings of the 2004 IEEE International Conference on Robotics and Automation, pp. 1789-1795, April 26- May 1, New Orleans.
• J.M. Porta, L. Ros, and F. Thomas, "Isolating Self-Motion Manifolds on a PlaySatation(TM)," Advances in Robot Kinematics, G. Galletti and J. Lenarcic (editors), pp. 123-133.Kluwer Academic Publishers.
• F. Thomas, J.M. Porta, and L. Ros "Distance Constraints Solved Geometrically," Advances in Robot Kinematics, G. Galletti and J. Lenarcic (editors), pp. 31-41. Kluwer Academic Publishers.

2003

• J. Rodríguez, F. Thomas , D. Ayala, and L. Ros, "Efficient Computation of 3D Skeletons by Extreme Vertex Encoding," in Discrete Geometry for Computer  Imagery, I. Nyström, G. Sanniti di Baja, and S. Svensson (Eds.), Lecture Notes in Computer Science, Vol. 2886, pp. 338-347, Springer Verlag, 2003.
• L. Ros, K. Sugihara, and F. Thomas, " Towards Shape Representation using Trihedral Mesh Projections," The Visual Computer, Vol. 19, No. 2-3, pp. 139-150, 2003.
• J.M. Porta, L. Ros, F. Thomas, and C. Torras, " A Branch-and-Prune Algorithm for Solving Systems of Distance Constraints,"Proceedings of the 2003 IEEE International Conference on Robotics and Automation,  May 12-17, Taipei, Taiwan.
• F. Thomas, E. Ottaviano, L. Ros, and M. Ceccarelli, " Coordinate-free Formulation of a 3-2-1  Wire-based Tracking Device using Cayley-Menger Determinants," Proceedings of the 2003 IEEE International Conference on Robotics and Automation,  May 12-17, Taipei, Taiwan.
• I.S. Baruch, A. Martínez, F. Thomas, and R. Garrido, "An Integral-Plus-State Adaptive Neural Control of Mechanical System," Proceedings of the 2003 IEEE International Conference of Control Applications, June 23-25, Istanbul, Turkey.
• J. Martínez and F. Thomas, " On the Reconstruction of an Image from its Moments," Proceedings of the 2003 IEEE International Conference on Image Processing, September 14-17, Barcelona, Spain.

2002

• F. Thomas and C. Torras, "A Projectively Invariant Intersection Test for Polyhedra,"  The Visual Computer, Vol. 18, 2002, No. 7, pp. 405-414, November 2002.
• J. Martínez and F. Thomas, " Efficient Computation of Local Geometric Moments,"  IEEE Trans. on Image Processing,  Vol. 11, No. 9, pp. 1102-1112, September 2002.
• L. Ros, A. Sabater, and F. Thomas, " An Ellipsoidal Calculus Based on Propagation and Fusion ,"  IEEE Trans. on Systems, Man, and Cybernetics -- Part B: Cybernetics , Vol. 32, No. 4, pp. 430-443, August 2002. (Maple files)
• L. Ros, K. Sugihara, and F. Thomas, " Shape Representation using Trihedral Mesh Projections ," in Discrete Geometry for Computer  Imagery,  A. Braquelaire, J-O. Lachaud and A. Vialard (Eds.), Lecture Notes in Computer Science, Vol. 2301, pp. 209-219, Springer Verlag, 2002.
• L. Ros and F. Thomas, "Overcoming Superstrictness in Line Drawing Interpretation ," IEEE Trans. on  Pattern Analysis and Machine Intelligence, Vol. 24, No. 4, pp. 456-466, April 2002,.
• E. Staffetti and F Thomas, " Analytic Formulation of the Kinestatics of Robot Manipulators with Arbitrary Topology," Proceedings of the 2002 IEEE International Conference on Robotics and Automation,  May 11-15, 2002,Washington D.C.
• J.M. Porta, L. Ros, F. Thomas, and C. Torras, " Solving  Multi-Loop Linkages by Iterating 2D Clippings," in Advances in Robot Kinematics, J. Lenarcic and F. Thomas (Eds.), pp. 255-265, Kluwer Academic Publishers.(Presentation).
• F. Thomas, E. Ottaviano, L. Ros, and M. Ceccarelli, " Uncertainty Model and Singularities of  3-2-1 Wire-Based Tracking Systems," in Advances in Robot Kinematics, J. Lenarcic and F. Thomas (Eds.), pp. 107-117, Kluwer Academic Publishers, 2002.
• E. Ottaviano, M. Ceccarelli, F. Sbardella, and F. Thomas, "Experimental Determination of Kinematic Parameters and Workspace of Human Arms," 11th International Workshop on Robotics in Alpe-Adria-Danube Region,  June 30- July 2, Balatonfüred, Hungary.
• J. Lenarcic and F. Thomas (Eds.), Advances in Robot Kinematics, Kluwer Academic Publishers, 536 pages; ISBN: 1402006969, August 2002.

2001

• P. Jiménez, F. Thomas, and C. Torras, " Collision Detection: A Survey," Computers and Graphics, Vol. 25, No. 2, pp. 269-285..
• C. Bombín, L.Ros, and F.Thomas, `` On the Computation of the  Direct Kinematics of Parallel Spherical Mechanisms Using Bernstein Polynomials," Proceedings of the 2001 IEEE International Conference on Robotics and Automation, May 21-26, 2001, Seoul, Korea.
• L. Ros and F. Thomas, "Correcting Polyhedral Projections for Scene Reconstruction," Proceedings of the 2001 IEEE International Conference on Robotics and Automation, May 21-26, 2001, Seoul, Korea.
• L. Ros and F. Thomas, "Numerical Analysis of the Instantaneous Motions of Panel-and-Hinge Frameworks and its Application to Computer Vision," Proceedings of the 2nd Int. Workshop on Computational Kinematics, pp. 199-210, May 20-22, 2001, Seoul, Korea.
• I. Baruch, J.-M. Flores, F. Thomas, and R. Garrido, "Adaptive Neural Control of Nonlinear Systems,"  Proceedings of the International Conference on Artificial Neural Networks, ICANN 2001, August 21-25, Viena, Austria.
• I. Baruch,  J.-M. Flores,  F. Thomas, and E. Gortcheva, "A Multimodel  Recurrent Neural Network for System Identification and Control ," INNS-IEEE Conference on Neural Networks, July 14-19, 2001, Washington DC.

2000

• C. Bombín, L. Ros, and F. Thomas, " A Concise Bézier Clipping  Technique for Solving Inverse Kinematics Problems," in Advances in Robot Kinematics, J. Lenarcic and M.M. Stanisic (Editors), Kluwer Academic Publishers, 2000.
• E. Staffetti and F. Thomas, "Kinestatic Analysis of Serial and Parallel Robot Manipulators using Grassmann-Caley Algebra,"  in Advances in Robot Kinematics, J. Lenarcic y M.M. Stanisic (Editors),  Kluwer Academic Publishers, 2000.
• F. Thomas,  C. Turnbull, L. Ros, and S. Cameron, " Computing Signed Distances between Free-Form Objects,"  Proceedings of the 2000 IEEE International Conference on Robotics and Automation,  April 22-28, 2000, San Francisco, USA.
• L. Ros, and F. Thomas, "Shape-from-Image via Cross-Sections," Proceedings of the 15th IEEE International Conference on  Pattern Recognition, September 3-8, 2000, Barcelona, Spain.
• F. Romero, L. Ros, and F. Thomas, " Fast Skeletonization of  Spatially Encoded Objects," Proceedings of the 15th IEEE International Conference on Pattern Recognition, September 3-8, 2000, Barcelona, Spain.
• E. Staffetti, and F. Thomas, " Analysis of Rigid Body Interactions for Compliant Motion Tasks Using Grassmann-Cayley Algebra," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000),  November 5-9, 2000, Kagawa University, Takamatsu, Japan.

1999

• A. Castellet and F. Thomas, "The Self-Motion Manifold of the Orthogonal Spherical Mechanism, " Mechanisms and Machine Theory, Vol. 34, No. 1, pp. 59-88, January 1999.
• E. Staffetti, L. Ros, and F. Thomas, "A Simple Characterization of the Infinitesimal Motions Separating General Polyhedra in Contact," Proceedings of the 1999 IEEE International Conference on  Robotics and Automation, Vol. 2, pp. 571-578, May 10-15, 1999, Detroit, USA.
• E. Staffetti, L.  Ros, and F. Thomas, "Finding Infinitesimal Motions of Objects in Assemblies Using Grassmann-Caley Algebra," Tenth World Congress on the Theory of Machine and Mechanisms , Vol. 2, pp. 584-592, junio 20-24, 1999, Oulu, Finland.
• I. Baruch, E. Gortcheva, F. Thomas, and R. Garrido, "A Neuro-Fuzzy  Model for Nonlinear Plants Identification," 1999 IASTED International Conference on Modelling and Simulation,  MS'99, pp. 291-021, 1-6, May 5-8, 1999, Phiiladelphia, USA.
• I. Baruch, R. Garrido, F. Thomas, and A.  Mitev,  "A Hybrid Multimodel Neural Network for Nonlinear Systems Identification," International Joint Conference on Neural Networks (IJCNN'99), July 10-16, 1999, Washington D.C., USA.

1998

• F. Thomas, "Generating Street Center-Lines from Inaccurate Vector City Maps," Cartography and Geography Information Systems, Vol. 25, No. 4, pp. 221-230, October 1998. American Congress on Surveying and Mapping (ACSM). DOI: 10.1559/152304098782383052
  
• P. Jiménez, F. Thomas, and C. Torras, "Collision Detection Algorithms for Motion Planning," in Robot Motion. Planning and Control, J-P. Laumond (Ed.), Lecture Notes in Control and Information Sciences, Vol. 229, pp. 305-344, Springer Verlag, 1998.
• A. Castellet and F. Thomas, "An Algorithm for the Solution of Inverse Kinematic Problems Based on an Interval Method," in Advances in Robot Kinematics, M. Husty and J. Lenarcic (Eds.), pp. 393-403, Kluwer Academic Publishers, 1998. DOI: 10.1007/978-94-015-9064-8_40
• L. Ros and F. Thomas, "Applying Delta/Star Reductions for Checking the Spatial Realizability of Line Drawings," 14th European Workshop on Computational Geometry, CG'98, pp. 127-131, F. Hurtado y J. Trias (Eds.), March 25-27, 1998, Barcelona, Spain.
• L. Ros and F. Thomas, "Analysing Spatial Realizability of Line Drawings Through Local Edge-Concurrence Tests, " 1998 IEEE Int. Conference on Robotics and Automation, Vol. III, pp. 3559-3566, May 16-21, 1998, Leuven, Belgium. DOI: 10.1109/ROBOT.1998.681020
• J. Martínez and F. Thomas, "Fast Actualization of Moments in Sliding Window Applications," EUSIPCO-98. Ninth European Signal Processing Conference, Vol. I, pp. 145-149, September 8-11, 1998, Rodas, Greece.

1997

• R. Cardoner, and F. Thomas, "Residuals + Directional Gaps = Skeletons," Pattern Recognition Letters, Vol. 18, No. 4, pp. 343-353, May 1997. DOI: 10.1016/S0167-8655(97)00021-4
• R. Cardoner and F. Thomas, "Efficient Morphological Set Transformations on Line Drawings," International Journal of Pattern Recognition and Artificial Intelligence, Vol. 11, No. 6, pp. 947-960, September 1997. DOI: 10.1142/S0218001497000433
• A. Castellet and F. Thomas, " Towards an Efficient Interval Method for Solving Inverse Kinematic Problems," Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Vol. IV, pp. 3615-3620, April 22-28, 1997, Alburquerque, New Mexico, USA.
• A. Castellet and F. Thomas, "Using Interval Methods for Solving Inverse Kinematic Problems," Proceedings of the NATO Advanced Study Institute on Computational Methods in Mechanisms, Vol. II, pp. 135-145, June 16-28, 1997, Varna, Bulgaria.

1996

• J. Martínez and F. Thomas, "A Reformulation of Grey-Level Image Geometric Moment Computation for Real-Time Applications," Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Vol. III, pp. 2315-2320, abril 22-28, 1996, Minneapolis, Minnesota, USA.
•  J. Martínez, E. Staffetti, and F. Thomas, "A Recursive Updating Rule for Efficient  Computation of Linear Moments in Sliding-Window Applications," Proceedings of the 13th International Conference on Pattern Recognition, pp. 87-91, August 25-29, 1996, Viena, Austria.
•  J. Martínez, J. Ros, and F. Thomas, "On the Information Contained in High-Order Geometric Moments," Proceedings of the European Workshop on Hazardous Environment Robotics, pp. 87-92, November 25-26, 1996, Barcelona.

From the origins to 1995

• C. Torras and F. Thomas, "Planning with Constraints: Applications to Sensor-based Robot Assembly Tasks," 1st. IFAC Symposium on Robot Control (SYROCO), pp. 453-457, November 1985.
• F. Thomas and C. Torras, "Group Theoretic Approach to the Computation of Symbolic Part Relations," IEEE Journal of Robotics and Automation, Vol. 4, No. 6, pp. 622-634, December 1988.
• F. Thomas and C. Torras, "Constraint-Based Inference of Assembly Configurations," Proceedings of the 1988 IEEE International Conference on Robotics and Automation, Vol. II, pp. 1304-1307, April 1988, Philadelphia, USA.
• F. Thomas, "Real-Time Processing of Spatial Proximity Information to Accomplish Guarded Motions," IEEE International Workshop on Sensorial Integration for Industrial Robots: Architectures and Applications, Vol. I, pp. 287-293, November 1989, Zaragoza, Spain.
• A. Sabater and F. Thomas, "Set Membership Approach to the Propagation of Uncertain Geometric Information, " Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Vol. III, pp. 2718-2723, abril 9-11, 1991, Sacramento, USA.
• F. Thomas, "Graphs of Kinematic Constraints," Chapter 4 in Computer-Aided Mechanical Assembly Planning, L.S. Homem de Mello and S. Lee (Eds.), pp. 81-111, Kluwer Academic Publishers, 1991.
• F. Thomas and C. Torras, "Inferring Feasible Assemblies from Spatial Constraints," IEEE Transactions on Robotics and Automation, Vol. 8, No. 2, pp. 228-239, April 1992.
• F. Thomas, "On the N-bar Mechanism, or How to Find Global Solutions to Redundant Single Loop Spatial Kinematic Chains", Proceedings of the 1992 IEEE International Conference on Robotics and Automation, Vol. I, pp. 403-408, May 12-14, 1992, Nice, France.
• F. Thomas, "The Self-Motion Manifold of the N-bar Mechanism," in Computational Kinematics, J. Angeles (Editor), pp. 95-107, Kluwer Academic Publishers, 1993.
• F. Thomas and L. Basañez, "Interactive Planning Using Graphical Simulation for Robot Task Programming," RoManSy 9: Proceedings of the Ninth CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, pp. 378-385, A. Morecki, G. Bianchi, and K. Jaworek (Eds.), Lecture Notes in Control and Information Sciences, Springer Verlag, 1993. DOI:10.1007/BFB0031465
• A. Sabater, and F. Thomas, "Propagation and Fusion of Uncertain Geometric Information," IASTED-IEEE International Conference on Robotics and Manufacturing, pp. 34-38, September 23-25, 1993, Oxford, UK.
• F. Thomas, and C. Torras, "Interference Detection Between Non-Convex Polyhedra Revisited with a Practical Aim," Proceedings of the 1994 IEEE International Conference on Robotics and Automation, Vol. I, pp. 587-594, May 1994, San Diego, USA.
• F. Thomas and C. Torras, "Positional Inverse Kinematic Problems in Rⁿ x T^m Solved in T^{2( n +m)}", in Advances in Robot Kinematics and Computational Geometry, A.J. Lenarcic y B.B. Ravani (Eds.), pp. 291-300, Kluwer Academic Publishers, 1994.
• F. Thomas, "An Approach to the Movers' Problem that Combines Oriented Matroid Theory and Algebraic Geometry," Proceedings of the 1995 IEEE International Conference on Robotics and Automation, Vol. III, pp. 2285-2293, May 1995, Nagoya, Japan.