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i, i ′ , j, j ′ r, r ′ , s, s ′ G t t ∈ N f i r Ar,s Aij [Aij]r,s Mi MG r i (r, s) A (i, j) A (r, s) Aij i n ∈ N G = (V, E) V = {1, . . . , n} i j (i, j) ∈ E Ni i Ni = {j | (i, j) ∈ E, j = i}.
i mi ∈ N i Mi = + mi ˆxi ∈ R Mi Σi ∈ R Mi×Mi = 3 (x, y) θ = 2 = 3 xi ∈ R Mi mi ˆxi = xi + vi, vi Σi m ∈ N i ∈ {1, . . . , n} mi ≤ m x ∈ R MG n m MG = n +m Hi ∈ {0, 1} Mi×MG x i 0 1 1 xi = Hix ˆxi = Hix + vi, vi Σi T ˆx 1 . . . ˆx T T T n = H1 . . . H T T T n x + v1 . . . v T T n . vi E[ vT 1 . . . vT T T n v1 . . . vT n ] = diag (Σ1, . . . , Σn) i Ii ∈ RMG×MG ii ∈ RMG Ii = H T i Σ −1 i Hi, ii = H T i Σ −1 i ˆxi. n IG = n Ii, iG = i=1 n ii, i=1 ˆxG = (IG) −1 iG, ΣG = (IG) −1 .
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 and 44: • (xr, yr,
Page 45 and 46: % final divergence number of steps
Page 47 and 48: 14 12 10 8 6 4 2 0 −2 −4 FINAL
Page 49: 14 12 10 8 6 4 2 0 −2 −4 FINAL
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
Page 99 and 100: 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
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, 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
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10 8 6 4 2 0 −2 −4 −6 −8
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Gdis
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Gdis
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i, j e, e ′ e i
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0 < θi < π i ∈ V
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lim t→∞ T i G(t) = (R i ) T T
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zθ ∈ Rm Σzθ ∈ Rm×m
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ˆx a Va ˆ θa Va Υw = Σ
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tmax ¯ θ a i tmax ¯
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i ˆp a i = Υˆp a Va ˆpaV a =
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ˆx a V
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G a ∈ Ni i ∈ Va J
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i ∈ V ˆx cen i (t)
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ρ(J) = λeff(W) ||ecen(t)||2
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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
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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 +
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¯x(k + 1) = ((¯xr(k + 1)) T , ¯x
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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
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T = diam(G) βi(T ) i ∈ V
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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
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4 2 0 3000 2000 1000 x 10 4 0 20 40
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23 22.5 22 0.5 −0.5 0 20 40 23 22
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1 7 16
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6 4 2 0 −2 k=1 k=2 k=3 k=4 k=5
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9 9 9
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(C) msum
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(c) msum
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y −1000 500 2000 x
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−200 200 400 0 R9 R7 R5 R2 R6 −
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2000 1000 0 −1000 −1000 0 1000
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2000 1000 0 −1000 −1000 0 1000
Page 208 and 209:
2000 1000 0 −1000 −1000 0 1000
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2000 1000 0 −1000 −1000 0 1000
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2000 1000 0 −1000 −1000 0 1000
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2000 1000 0 −1000 −1000 0 1000
Page 216 and 217:
O(n)
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p
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p
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60×45m
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