18.08.2013 Views

Show PDF File - robotics - Universidad de Zaragoza

Show PDF File - robotics - Universidad de Zaragoza

Show PDF File - robotics - Universidad de Zaragoza

SHOW MORE
SHOW LESS

You also want an ePaper? Increase the reach of your titles

YUMPU automatically turns print PDFs into web optimized ePapers that Google loves.

i <br />

j ∈ Ni <br />

i n n k <br />

<br />

C <br />

k ≥ 0 k− C C k <br />

i i− Ck k = 0 <br />

I C0 k ≥ 1 <br />

Ck+1 = CC k (i, j) <br />

[C k+1 n<br />

]ij = Cij ′[Ck ]j ′ j. <br />

j ′ =1<br />

C Cij ′ = 0 j′ /∈ Ni ∪ {i} <br />

<br />

[C k+1 ]ij = <br />

Cij ′[Ck ]j ′ j, <br />

j ′ ∈Ni∪{i}<br />

<br />

<br />

<br />

<br />

i <br />

[ Ĉ(k)]ij = [C(k)C(k − 1) . . . C(0)]ij, for j ∈ V.<br />

<br />

n<br />

k j, j ′ <br />

Ĉj ′ j(k) <br />

i<br />

ID(i) <br />

i ∈ V <br />

li(k) ID(j) j ˜ Cij(k) <br />

(i, j) k− C [C k ]ij j ID(j) ∈ li(k)<br />

k = 0 i ∈ V ˜ Cii(k) <br />

˜Cii(0) = 1, li(0) = {ID(i)}, <br />

Ni<br />

k ≥ 1 i lj(k) <br />

li(k) <br />

li(k + 1) = <br />

lj(k). <br />

j∈Ni∪{i}

Hooray! Your file is uploaded and ready to be published.

Saved successfully!

Ooh no, something went wrong!