Exploiting single-cycle symmetries in continuous constraint problems
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 of the variables consisting of one single cycle. We propose a procedure tha...
| Autores: | , |
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| Formato: | informe técnico |
| Fecha de publicación: | 2007 |
| País: | España |
| Recursos: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/2698 |
| Acesso em linha: | https://hdl.handle.net/2117/2698 |
| Access Level: | acceso abierto |
| Palavra-chave: | Robots Robotics symmetries continuous constraint problems Robòtica Classificació INSPEC::Automation::Robots Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Resumo: | 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 of the variables consisting of one single cycle. We propose a procedure that takes advantage of these symmetries by interacting with a continuous constraint solver without interfering with it. A key concept in this procedure are the classes of symmetric boxes formed by bisecting a n-dimensional cube at the same point in all dimensions at the same time. We analyze these classes and quantify them as a function of the cube dimensionality. Moreover, we propose a simple algorithm to generate the representatives of all these classes for any number of variables at very high rates. A problem example from the chemical field and a kinematics solver are used to show the performance of the approach in practice. |
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