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Distance bound smoothing under orientation constraints
| dc.contributor.author | Rull Sanahuja, Aleix |
| dc.contributor.author | Porta Pleite, Josep Maria |
| dc.contributor.author | Thomas, Federico |
| dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
| dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
| dc.date.accessioned | 2016-03-18T18:42:06Z |
| dc.date.available | 2016-03-18T18:42:06Z |
| dc.date.issued | 2015 |
| dc.identifier.citation | Rull, A., Porta, J.M., Thomas, F. Distance bound smoothing under orientation constraints. A: IEEE International Conference on Robotics and Automation. "2015 IEEE International Conference on Robotics and Automation (ICRA 2015): Seattle, Washington, USA, 26-30 May 2015". Seattle, WA: Institute of Electrical and Electronics Engineers (IEEE), 2015, p. 1431-1436. |
| dc.identifier.isbn | 978-1-4799-6924-1 |
| dc.identifier.uri | http://hdl.handle.net/2117/84752 |
| dc.description.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. |
| dc.format.extent | 6 p. |
| dc.language.iso | eng |
| dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
| dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
| dc.subject.other | Robots |
| dc.subject.other | distance geometry |
| dc.subject.other | orientation constraints |
| dc.subject.other | bound smoothing |
| dc.title | Distance bound smoothing under orientation constraints |
| dc.type | Conference report |
| dc.contributor.group | Universitat Politècnica de Catalunya. KRD - Cinemàtica i Disseny de Robots |
| dc.identifier.doi | 10.1109/ICRA.2015.7139377 |
| dc.description.peerreviewed | Peer Reviewed |
| dc.subject.inspec | Classificació INSPEC::Automation::Robots |
| dc.relation.publisherversion | http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7139377 |
| dc.rights.access | Open Access |
| local.identifier.drac | 17087012 |
| dc.description.version | Postprint (author's final draft) |
| local.citation.author | Rull, A.; Porta, J.M.; Thomas, F. |
| local.citation.contributor | IEEE International Conference on Robotics and Automation |
| local.citation.pubplace | Seattle, WA |
| local.citation.publicationName | 2015 IEEE International Conference on Robotics and Automation (ICRA 2015): Seattle, Washington, USA, 26-30 May 2015 |
| local.citation.startingPage | 1431 |
| local.citation.endingPage | 1436 |
