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n n Z p n M p n
Page 1 and 2: R. Aragüés (1980, Zaragoza) recei
Page 4: R. Aragüés (1980, Zaragoza) recei
Page 8: R. Aragüés (1980, Zaragoza) recei
Page 20 and 21: n n
Page 22 and 23: n n
Page 24 and 25: • •
Page 26 and 27: • •
Page 28 and 29: k−
Page 30 and 31: k−
Page 32 and 33: •
Page 34 and 35: •
Page 36 and 37: P i j zij zj
Page 38 and 39: z1i − z2i dp < ∞
Page 40 and 41: ρmin ρ0 [0, ρmi
Page 42 and 43: 90 ◦
Page 44 and 45: % final divergence number of steps
Page 46 and 47: 14 12 10 8 6 4 2 0 −2 −4 FINAL
Page 48 and 49: 14 12 10 8 6 4 2 0 −2 −4 FINAL
Page 50 and 51: i, i ′ , j, j ′ r, r ′ , s,
Page 52 and 53: i Îi G (t) ∈ RMG×MG îi G (t
Page 54 and 55: Li, Lj, Lj ′ H Li L
Page 56 and 57: Lchild i LG = Lc
Page 58 and 59: Hi Ii G (t) t ≥
Page 60 and 61: |λ2(W )| γ = |λ2(W
Page 62 and 63: 9 t = 1 t = 10 t
Page 64: 10 8 6 4 2 0 −2 −4 −6 −8
Page 67 and 68: 10 8 6 4 2 0 −2 −4 −6 −8
Page 69 and 70:
obot feat feat. robot feat. feat
Page 71 and 72:
n u ∈ R n = (u1, . . . , un)
Page 73 and 74:
i ∈ V bi = b(λi(LW )) bi = b
Page 75 and 76:
λi > 0 i ∈ {2, . . . , n} b
Page 77 and 78:
an+1 = 0 ai an+i i ∈ {2
Page 79 and 80:
Consensus iterations ... t=1 t=2 t=
Page 81 and 82:
V G k k ∈ {1,
Page 83 and 84:
k [I k i ]r,s [i k i ]r
Page 85 and 86:
k = 1 t = 0 I k i (t) i k
Page 87 and 88:
15 10 5 0 −5 −10 −15 Rob
Page 90 and 91:
15 10 5 0 −5 −10 −15 −5 0 5
Page 92 and 93:
n ∈ N n Gcom
Page 94 and 95:
Camera A Camera B Camera D Camera C
Page 96 and 97:
[ t ]ij ∈ N mi×mj t i
Page 98 and 99:
t Gdis.
Page 100 and 101:
u, ℓ/4
Page 102 and 103:
i C i i = i⋆ ˜mi
Page 104 and 105:
C 2 ˜mi⋆ ≥ 4
Page 106 and 107:
¯r = row(f i r) ¯s = col(f j s )
Page 108 and 109:
• •
Page 110 and 111:
′ ∈ Cr ′ s′ ∈ Cs ′
Page 112 and 113:
Camera B 1 7 Camera A Camera F 9 Er
Page 114 and 115:
f B 1 f C 1
Page 116 and 117:
10 8 6 4 2 0 −2 −4 −6 −8
Page 118:
Gdis
Page 121 and 122:
Gdis
Page 123 and 124:
j G i Ni
Page 125 and 126:
G i pi G = (Ri G , T i
Page 127 and 128:
i ∈ V n 2 log(ɛ −1 )
Page 129 and 130:
˜θ a V a ˆpa V a ∈ R3(n−1
Page 131 and 132:
ci = − Ci = e=(i,j)∈E e=(i,j)
Page 133 and 134:
Mi M1 = Υ xy ˜z + e e=(i,j)∈
Page 135 and 136:
pi i xi
Page 137 and 138:
G Σz1, . . . , Σzm
Page 139 and 140:
Σˆx cen V Qii = Pii − 1 n
Page 141 and 142:
(W ⊗ Ip)Hcen = Hcen P = 0
Page 143 and 144:
A + A T ∈ M p n, D = blkDiag (A11
Page 145 and 146:
−6 −6.5 −7.5 −8.5 0 4 8 10
Page 147 and 148:
5 4 3 2 1 0 −1 −2 −3 −4 R 2
Page 149 and 150:
i ∈ V blkTr(Σˆx i )
Page 151 and 152:
35 30 25 20 15 10 5 0 0 200 400 600
Page 153 and 154:
k−
Page 155 and 156:
n
Page 157 and 158:
ˆxr(k) = (ˆxk, ˆyk, ˆ θk) T
Page 159 and 160:
ˆx(k + 1) = x(k + 1|k + 1) P(k +
Page 161 and 162:
8 6 4 2 0 −2 F1 Initial m
Page 163 and 164:
W λ2(W ) W
Page 165 and 166:
λn(L) ≤ 2dmax G λ⋆(L)
Page 167 and 168:
i j ∈ Ni i n
Page 169 and 170:
i [C k ]ij j ∈ V i − th
Page 171 and 172:
C k 2 C k ∞ C k ( √ n
Page 173 and 174:
ε ∈ (0, 1) β = ε/(2n)
Page 175 and 176:
15 10 5 0 −5 −10 r1 r2 r3 gt F6
Page 177 and 178:
10 8 6 4 2 0 0 2 4 6 8 10
Page 179 and 180:
14 12 10 8 6 4 2 0 −2 λ * (L) Es
Page 181 and 182:
20 10 0 −10 −20 −30 −40 −
Page 183 and 184:
20000 10000 0 2000 1000 −1000 0 2
Page 185 and 186:
5.8 5.6 5.4 0.2 −0.2 0 20 40
Page 187 and 188:
15 10 5 0 −5 −10 −15 −5
Page 189 and 190:
6 4 2 0 −2 −4 ST R1 R2 R3 R4 R5
Page 191 and 192:
6 4 2 0 −2 −4 ST GM R1 R2 R3 R4
Page 193 and 194:
10 0 −10 −20 −30 −40 −50
Page 195 and 196:
(C) msum
Page 197 and 198:
y 1000 500 −500 2000 1000 0 z
Page 199 and 200:
y 1000 0 −1000 3000 2000 1000 z 0
Page 201 and 202:
R1 R1
Page 204 and 205:
2000 1000 0 −1000 −1000 0 1000
Page 206:
2000 1000 0 −1000 −1000 0 1000
Page 209 and 210:
2000 1000 0 −1000 −1000 0 1000
Page 211 and 212:
2000 1000 0 −1000 −1000 0 1000
Page 213 and 214:
2000 1000 0 −1000 −1000 0 1000
Page 215 and 216:
2000 1000 0 −1000 −1000 0 1000
Page 217 and 218:
O(n)
Page 219 and 220:
p
Page 222:
i ∈ V zi(0) ∈ R W ∈ R n
Page 225:
20 10 0 −10 −20 −30 −40 −
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