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Most geometric constraint problems can be reduced to give coordinates to a set of points from a subset of their pairwise distances. By exploiting this fact, this paper presents an algorithm that solves geometric constraint systems by iteratively reducing and expanding the dimension of the problem. In general, these projection/backprojection iterations permit tightening the ranges for the possible solutions but, if at a given point no progress is made, the algorithm bisects the search space anddoi:10.1109/robot.2004.1308083 dblp:conf/icra/Thomas04 fatcat:yswb5it3cjdmnn7gwcf3i3afui