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% final divergence number of steps to initialize features 100 80 60 40 20 0 4 3.5 3 2.5 2 1.5 1 Final divergence xy−d xy−f xy−l 0.1250.25 0.5 step size 1 % consistent features 100 80 60 40 20 0 Map consistency xy−d xy−f xy−l 0.1250.25 0.5 step size 1 Feature initialization step xy−d xy−f xy−l 0.1250.25 0.5 step size 1 % features used per step 100 80 60 40 20 0 Feature usage xy−d xy−f xy−l 0.1250.25 0.5 step size 1 % steps divergence % consistent features per step 100 80 60 40 20 0 100 80 60 40 20 0 Trajectory divergence xy−d xy−f xy−l 0.1250.25 0.5 step size 1 Map consistency per step xy−d xy−f xy−l 0.1250.25 0.5 step size 1 x
% final divergence number of steps to initialize features 100 80 60 40 20 0 4 3.5 3 2.5 2 1.5 1 Final divergence id−d id−f id−l 0.1250.25 0.5 step size 1 % consistent features 100 80 60 40 20 0 Map consistency id−d id−f id−l 0.1250.25 0.5 step size 1 Feature initialization step id−d id−f id−l 0.1250.25 0.5 step size 1 % features used per step 100 80 60 40 20 0 Feature usage 0.1250.25 0.5 step size 1 id−d id−f id−l % steps divergence % consistent features per step 100 80 60 40 20 0 100 80 60 40 20 0 Trajectory divergence id−d id−f id−l 0.1250.25 0.5 step size 1 Map consistency per step id−d id−f id−l 0.1250.25 0.5 step size 1 x dmin = 0.5m 0.125
Page 1 and 2: R. Aragüés (1980, Zaragoza) recei
Page 4: R. Aragüés (1980, Zaragoza) recei
Page 8: R. Aragüés (1980, Zaragoza) recei
Page 18: n n
Page 21 and 22: n n
Page 23 and 24: y 1000 500 −500 2000 1000 0 z
Page 25 and 26: • •
Page 27 and 28: • •
Page 29 and 30: k−
Page 31 and 32: •
Page 33 and 34: •
Page 35 and 36: (x, y)
Page 37 and 38: ρi = 0
Page 39 and 40: j xr zj
Page 41 and 42: xri i = 1, 2 zij j
Page 43: • (xr, yr,
Page 47 and 48: 14 12 10 8 6 4 2 0 −2 −4 FINAL
Page 49 and 50: 14 12 10 8 6 4 2 0 −2 −4 FINAL
Page 51 and 52: i mi ∈ N i
Page 53 and 54: i Hi Hi
Page 55 and 56: Lchild i Li Lchild j
Page 57 and 58: i Li(0) = Li, I i G(0) = Σ
Page 59 and 60: ˆ Σi G (t)−Qi G (t)
Page 61 and 62: 10 8 6 4 2 0 −2 −4 −6 −8
Page 63 and 64: 10 8 6 4 2 0 −2 −4 −6 −8
Page 66 and 67: 10 8 6 4 2 0 −2 −4 −6 −8
Page 68 and 69: n i, j r, s G
Page 70 and 71: i [I k j ]r,s [i k j ]r
Page 72 and 73: LW = diag(W 1) − W
Page 74 and 75: Y = P T ZP r S2 . . . Sn 0 P = 0
Page 76 and 77: exw(t) exw(t + 1) = A exw(t), exw(
Page 78 and 79: k1a k2b |k1a−k2b| ≤ max{k
Page 80 and 81: k x k ∗ = rr T u k = 1x k avg, w
Page 82 and 83: k − 1 k β k λ t
Page 84 and 85: i ∈ V
Page 86 and 87: A(t + kl) t k Ψ (t1 +
Page 88: 15 10 5 0 −5 −10 −15 −5 0 5
Page 91 and 92: 15 10 5 0 −5 −10 −15 −5 0 5
Page 93 and 94: i th f i r A, Ar,s [A]r,s
Page 95 and 96:
msum |Fdis| = n i=1 mi = msum
Page 97 and 98:
i, ti t, Xij(t) ∼ Xij(t
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i ∈ Vcom, r ∈ Si.
Page 101 and 102:
3 < df = 7 f A 1 f A 2
Page 103 and 104:
[ji]s,r (d) i f i r Cq
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f i r ∈ ˜ Si Xij ¯r ∈
Page 107 and 108:
f i r ∈ ˜ Si i f i r
Page 109 and 110:
, s ∈ C [C]r,s ≥ 0, C,
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1, . . . , rℓ, Cℓ.
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0 6 1 9 7 8 8 3 1 0 7 9 8 8 3 6 1 6
Page 115 and 116:
10 8 6 4 2 0 −2 −4 −6 −8
Page 117 and 118:
Gdis
Page 120 and 121:
Gdis
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i, j e, e ′ e i
Page 124 and 125:
0 < θi < π i ∈ V
Page 126 and 127:
lim t→∞ T i G(t) = (R i ) T T
Page 128 and 129:
zθ ∈ Rm Σzθ ∈ Rm×m
Page 130 and 131:
ˆx a Va ˆ θa Va Υw = Σ
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tmax ¯ θ a i tmax ¯
Page 134 and 135:
i ˆp a i = Υˆp a Va ˆpaV a =
Page 136 and 137:
ˆx a V
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G a ∈ Ni i ∈ Va J
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i ∈ V ˆx cen i (t)
Page 142 and 143:
ρ(J) = λeff(W) ||ecen(t)||2
Page 144 and 145:
3 m G
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3.38 ◦ 1.87 ◦ x cm cm y
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−2 −2.5 −3 −3.5 −4 Centr.
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35 30 25 20 15 10 5 0 0 200 400 600
Page 152 and 153:
35 30 25 20 15 10 5 0 0 200 400 600
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k k
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P(k + 1|k) = I Si Si = 1 +
Page 158 and 159:
¯x(k + 1) = ((¯xr(k + 1)) T , ¯x
Page 160 and 161:
8 6 4 2 0 −2 F1 Initial map −4
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i 1 · · · m x 1 i fi1(x 1 i )
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G n k k ∈ N i, j t
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i xi(t) xj(t) (i)
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i ˜ Cij(k) ˜ Cij(k) = 0
Page 170 and 171:
T = diam(G) βi(T ) i ∈ V
Page 172 and 173:
L V T L LVL = λL = diag(0, λ2(
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˙x(t) = −Lˆx(t) = u(t), ei(t) =
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F 16 r1
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14 12 10 8 6 4 2 0 −2 λ * (L) Es
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60m × 45m
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15 10 5 0 −5 −10 −15 F23 −5
Page 184 and 185:
4 2 0 3000 2000 1000 x 10 4 0 20 40
Page 186 and 187:
23 22.5 22 0.5 −0.5 0 20 40 23 22
Page 188 and 189:
1 7 16
Page 190 and 191:
6 4 2 0 −2 k=1 k=2 k=3 k=4 k=5
Page 192 and 193:
9 9 9
Page 194 and 195:
(C) msum
Page 196 and 197:
(c) msum
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y −1000 500 2000 x
Page 200 and 201:
−200 200 400 0 R9 R7 R5 R2 R6 −
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2000 1000 0 −1000 −1000 0 1000
Page 205 and 206:
2000 1000 0 −1000 −1000 0 1000
Page 208 and 209:
2000 1000 0 −1000 −1000 0 1000
Page 210 and 211:
2000 1000 0 −1000 −1000 0 1000
Page 212 and 213:
2000 1000 0 −1000 −1000 0 1000
Page 214 and 215:
2000 1000 0 −1000 −1000 0 1000
Page 216 and 217:
O(n)
Page 218 and 219:
p
Page 220:
p
Page 224 and 225:
60×45m
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