Hi Tony,
I looked at the users manual and could not see that there was a facility for bridging amps without opening the case and modifying the amp so think that biamping is your only choice.
The user manual also states that there are two transformers in the amplifier and that the channels l,3,5 run from one transformer and 2,4 from the other. To share out the power I would use l,3,5 to run the panels and the centre and2,4 to run the bass drivers. You need a Y adaptor interconnect to run from each of your front speaker outputs from your processor or preamp to the appropriate inputs on your Titan. Most processors/preamp will cope with this - what are you using?
Then single runs of speaker cable from each amplifier output to the appropriate set of terminals on the speakers. The Odyssey has two sets of terminals. MAKE SURE THE JUMPER IS REMOVED OR YOU WILL BLOW UP THE AMPLIFIER WITH A SHORT.
Have fun. The internal crossovers sort out the signals for you. You may find it worthwhile to install a dedicated 20A circuit as the amp and the speakers are capable of sucking up a lot of power.
Kevin