Now showing items 1-9 of 9

  • Exploiting single-cycle symmetries in branch-and-prune algorithms 

    Ruiz de Angulo García, Vicente; Torras, Carme (Springer Verlag, 2007)
    Part of book or chapter of book
    Open Access
    As a first attempt to exploit symmetries in continuous con- straint problems, we focus on permutations of the variables consisting of one single cycle. We propose a procedure that takes advantage of these symmetries by ...
  • Exploiting single-cycle symmetries in continuous constraint problems 

    Ruiz de Angulo García, Vicente; Torras, Carme (2007)
    External research report
    Open Access
    Symmetries in discrete constraint satisfaction problems have been explored and exploited in the last years, but symmetries in continuous constraint problems have not received the same attention. Here we focus on permutations ...
  • General robot kinematics decomposition without intermediate markers 

    Ulbrich, Stefan; Ruiz de Angulo García, Vicente; Asfour, Tamim; Torras, Carme; Dillmann, Rüdiger (2012)
    Article
    Open Access
    The calibration of serial manipulators with high numbers of degrees of freedom by means of machine learning is a complex and time-consuming task. With the help of a simple strategy, this complexity can be drastically ...
  • Kinematic Bézier maps 

    Ulbrich, Stefan; Ruiz de Angulo García, Vicente; Torras, Carme; Asfour, Tamim; Dillmann, Rudiger (2012)
    Article
    Open Access
    The kinematics of a robot with many degrees of freedom is a very complex function. Learning this function for a large workspace with a good precision requires a huge number of training samples, i.e., robot movements. In ...
  • Learning inverse kinematics: Reduced sampling through decomposition into virtual robots 

    Ruiz de Angulo García, Vicente; Torras, Carme (IEEE, 2008)
    Article
    Open Access
    We propose a technique to speed up the learning of the inverse kinematics of a robot manipulator by decomposing it into two or more virtual robot arms. Unlike previous decomposition approaches, this one does not place any ...
  • Monte Carlo simulations with few DOF’s in large molecules 

    Ruiz de Angulo García, Vicente (2011)
    External research report
    Open Access
    This Technical Report introduces a data structure and an algorithm to efficiently to efficiently determine rigid clusters in a given molecule. This is a relevant problem in Monte Carlo simulations where the actuated DOFs ...
  • Rigid-CLL: avoiding constant-distance computations in cell linked-lists algorithms 

    Ruiz de Angulo García, Vicente; Cortés, Juan; Porta Pleite, Josep Maria (2012-01-30)
    Article
    Open Access
    Many of the existing molecular simulation tools require the efficient identification of the set of nonbonded interacting atoms. This is necessary, for instance, to compute the energy values or the steric contacts between ...
  • Symmetry breaking in numeric constraint problems 

    Goldsztejn, Alexandre; Jermann, Christophe; Ruiz de Angulo García, Vicente; Torras, Carme (Springer, 2011)
    Conference report
    Open Access
    Symmetry-breaking constraints in the form of inequalities between variables have been proposed for a few kind of solution symmetries in numeric CSPs. We show that, for the variable symmetries among those, the proposed ...
  • Variable symmetry breaking in numerical constraint problems 

    Goldsztejn, Alexandre; Jermann, Christophe; Ruiz de Angulo García, Vicente; Torras, Carme (2015)
    Article
    Open Access
    Symmetry breaking has been a hot topic of research in the past years, leading to many theoretical developments as well as strong scaling strategies for dealing with hard applications. Most of the research has however focused ...