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Journal ArticleDOI

Stochastic roadmap simulation: an efficient representation and algorithm for analyzing molecular motion.

TLDR
Stochastic roadmap simulation (SRS) is introduced as a new computational approach for exploring the kinetics of molecular motion by simultaneously examining multiple pathways and converges to the same distribution as Monte Carlo simulation.
Abstract
Classic molecular motion simulation techniques, such as Monte Carlo (MC) simulation, generate motion pathways one at a time and spend most of their time in the local minima of the energy landscape defined over a molecular conformation space. Their high computational cost prevents them from being used to compute ensemble properties (properties requiring the analysis of many pathways). This paper introduces stochastic roadmap simulation (SRS) as a new computational approach for exploring the kinetics of molecular motion by simultaneously examining multiple pathways. These pathways are compactly encoded in a graph, which is constructed by sampling a molecular conformation space at random. This computation, which does not trace any particular pathway explicitly, circumvents the local-minima problem. Each edge in the graph represents a potential transition of the molecule and is associated with a probability indicating the likelihood of this transition. By viewing the graph as a Markov chain, ensemble properties can be efficiently computed over the entire molecular energy landscape. Furthermore, SRS converges to the same distribution as MC simulation. SRS is applied to two biological problems: computing the probability of folding, an important order parameter that measures the "kinetic distance" of a protein's conformation from its native state; and estimating the expected time to escape from a ligand-protein binding site. Comparison with MC simulations on protein folding shows that SRS produces arguably more accurate results, while reducing computation time by several orders of magnitude. Computational studies on ligand-protein binding also demonstrate SRS as a promising approach to study ligand-protein interactions.

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Book

Principles of Robot Motion: Theory, Algorithms, and Implementations

TL;DR: In this paper, the mathematical underpinnings of robot motion are discussed and a text that makes the low-level details of implementation to high-level algorithmic concepts is presented.
Proceedings ArticleDOI

The bridge test for sampling narrow passages with probabilistic roadmap planners

TL;DR: A hybrid sampling strategy in the PRM framework for finding paths through narrow passages is presented, which enables relatively small roadmaps to reliably capture the connectivity of configuration spaces with difficult narrow passages.
Journal ArticleDOI

Using path sampling to build better Markovian state models: Predicting the folding rate and mechanism of a tryptophan zipper beta hairpin

TL;DR: This work uses molecular dynamics simulation data to build Markovian state models (MSMs), discrete representations of the pathways sampled, and provides techniques for evaluating these values under perturbed conditions without expensive recomputations.
Journal ArticleDOI

On Delaying Collision Checking in PRM Planning: Application to Multi-Robot Coordination

TL;DR: Experimental results show that this combination of single-query and bi-directional sampling techniques and those of delayed collision checking reinforce each other reduces planning time by a large factor, making it possible to efficiently handle difficult planning problems, such as problems involving multiple robots in geometrically complex environments.
References
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Journal ArticleDOI

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Iterative Methods for Sparse Linear Systems

Yousef Saad
TL;DR: This chapter discusses methods related to the normal equations of linear algebra, and some of the techniques used in this chapter were derived from previous chapters of this book.
Journal ArticleDOI

Automated docking using a Lamarckian genetic algorithm and an empirical binding free energy function

TL;DR: It is shown that both the traditional and Lamarckian genetic algorithms can handle ligands with more degrees of freedom than the simulated annealing method used in earlier versions of AUTODOCK, and that the Lamarckia genetic algorithm is the most efficient, reliable, and successful of the three.