Publication

Distance bound smoothing under orientation constraints

Conference Article

Conference

IEEE International Conference on Robotics and Automation (ICRA)

Edition

2015

Pages

1431-1436

Doc link

http://dx.doi.org/10.1109/ICRA.2015.7139377

File

Download the digital copy of the doc pdf document

Abstract

Distance Bound Smoothing (DBS) is a basic operation originally developed in Computational Chemistry to determine point configurations that are within certain pairwise ranges of distances. This operation consist in the iterative application of filtering processes that reduce the given ranges using triangular and tetrangular inequalities. Standard DBS has a limited range of applications because it does not take into account constraints on the orientations of simplices (triangles or tetrahedra, depending on the dimension of the problem). This paper discusses an extension of DBS that permits incorporating these constraints. This paves the way for the application of DBS techniques to a broad range of problems in Robotics.

Categories

robots.

Author keywords

distance geometry, orientation constraints, bound smoothing

Scientific reference

A. Rull, J.M. Porta and F. Thomas. Distance bound smoothing under orientation constraints, 2015 IEEE International Conference on Robotics and Automation, 2015, Seattle, pp. 1431-1436.