Publication
Distance constraints solved geometrically
Conference Article
Conference
International Symposium on Advances in Robot Kinematics (ARK)
Edition
9th
Pages
31-40
Doc link
http://www.springer.com/engineering/book/978-1-4020-2248-7
File
Abstract
Most geometric constraint problems can be reduced to give coordinates to a set of points from a subset of their pairwise distances. By exploiting this fact, this paper presents an algorithm that solves distance constraint systems by iteratively reducing and expanding the dimension of the problem. In general, these projection/backprojection iterations permit tightening the ranges for the possible solutions but, if at a given point no progress is made, the algorithm bisects the search space and proceeds recursively for both subproblems. This branch-and-prune strategy is shown to converge to all solutions.
Categories
robots.
Author keywords
distance constraints, distance geometry, geometric constraint systems
Scientific reference
F. Thomas, J.M. Porta and L. Ros. Distance constraints solved geometrically, 9th International Symposium on Advances in Robot Kinematics, 2004, Sestri Levante, Italia, in On Advances in Robot Kinematics, pp. 31-40, 2004, Springer.
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