Research Project

DIST: Design and implementation of efficient parallelizable algorithms with applications to robotics and proteomics

Type

National Project

Start Date

01/12/2003

End Date

31/12/2004

Project Code

TIC2003-03396

Project illustration

Staff

Project Description

This project aims at developing efficient parallel algorithms of Distance Geometry for solving the following strongly NP-hard problem: given an arbitrary collection of kinematic constraints among a set of solids, generate all spatial configurations of these solids that satisfy them. When the number of feasible solutions is infinite the algorithm must be able to find a discretization of the whole solution space or, when needed, it must find the configurations that minimize a given objective function in the involved variables.

Project Publications

Journal Publications

  • J.M. Porta, L. Ros, F. Thomas and C. Torras. A branch-and-prune solver for distance constraints. IEEE Transactions on Robotics, 21(2): 176-187, 2005.

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  • F. Thomas and L. Ros. Revisiting trilateration for robot localization. IEEE Transactions on Robotics, 21(1): 93-101, 2005.

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Conference Publications

  • J. Andrade-Cetto and F. Thomas. Wire-based tracking using mutual information, 10th International Symposium on Advances in Robot Kinematics, 2006, Lyubljana, Slovenia, in Advances in Robot Kinematics: Mechanisms and Motion, pp. 3-14, 2006, Springer.

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  • J.M. Porta, L. Ros and F. Thomas. Inverse kinematics by distance matrix completion, 4th International Workshop on Computational Kinematics, 2005, Cassino, Italy, in Mechanism and Machine Theory, pp. 1-9, 2006, Elsevier.

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  • J.M. Porta, L. Ros and F. Thomas. Isolating self-motion manifolds on a Playstation, 9th International Symposium on Advances in Robot Kinematics, 2004, Sestri Levante, Italia, in On Advances in Robot Kinematics, pp. 123-132, 2004, Springer.

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