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Distance constraints solved geometrically

AuthorsThomas, Federico ; Porta, Josep M. ; Ros, Lluís
KeywordsDistance constraints
Distance geometry
Geometric constraint systems
Automation: Robots
Issue Date2004
Citation9th International Symposium on Advances in Robot Kinematics: 31-40 (2004)
AbstractMost 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.
DescriptionInternational Symposium on Advances in Robot Kinematics (ARK), 2004, Sestri Levante (Italia)
Appears in Collections:(IRII) Comunicaciones congresos
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