The ability to efficiently sample structurally diverse protein conformations allows one to gain a high-level view of a protein's energy landscape. Algorithms from robot motion planning have been used for conformational sampling, and several of these algorithms promote diversity by keeping track of "coverage" in conformational space based on the local ...

Molecular docking is a standard computational approach to predict binding modes of protein–ligand complexes by exploring alternative orientations and conformations of the ligand (i.e., by exploring ligand flexibility). Docking tools are largely used for virtual screening of small drug-like molecules, but their accuracy and efficiency greatly decays ...

The class I major histocompatibility complex (MHC) is capable of binding peptides derived from intracellular proteins and displaying them at the cell surface. The recognition of these peptide-MHC (pMHC) complexes by T-cells is the cornerstone of cellular immunity, enabling the elimination of infected or tumoral cells. T-cell-based immunotherapies ...

The activity of most drugs is regulated by the binding of one molecule(the ligand) to a pocket of another, usually larger, molecule, which is commonly a protein. This report describes a new approach to creating low-energy structures of flexible proteins to which ligands can be docked. The flexibility of molecules is encoded with thousands of parameters ...

We present a subdivision scheme for the construction of 3D minimal-energy curves of given length that satisfy endpoint constraints. When given desired positions and tangents for the endpoints, and the length of the curve, the scheme iteratively builds up a minimal-energy curve. During each iteration the algorithm solves a low-dimensional optimization ...

We present a new approach to integrated task and motion planning (ITMP) for robots performing mobile manipulation. In our approach, the user writes a high-level specification that captures partial knowledge about a mobile manipulation setting. In particular, this specification includes a plan outline that syntactically defines a space of plausible ...

Sampling-based planners struggle when the valid configurations are constrained to an implicit manifold. Special planners have been proposed for this problem recently. Our new framework is decoupled from any particular planner and augments existing algorithms not explicitly designed for constraint planning. We demonstrate the advantages of our generalized ...

Proteins are at the root of many biological functions, often performing complex tasks as the result of large changes in their structure. Describing the exact details of these conformational changes, however, remains a central challenge for computational biology due the enormous computational requirements of the problem. This has engendered ...

The protein kinases are a large family of enzymes that play fundamental roles in propagating signals within the cell. Because of the high degree of binding site similarity shared among protein kinases, designing drug compounds with high specificity among the kinases has proven difficult. However, computational approaches to comparing the 3-dimensional ...

Crew time is a precious resource due to the expense of trained human operators in space. Efficient caretaker robots could lessen the manual labor load required by frequent vehicular and life support maintenance tasks, freeing astronaut time for scientific mission objectives. Humanoid robots can fluidly exist alongside human counterparts due to their ...