Show PDF File - robotics - Universidad de Zaragoza
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i Îi G (t) ∈ RMG×MG<br />
îi G (t) ∈ RMG <br />
Î i G(0) = H T i Σ −1<br />
i Hi, î i G(0) = H T i Σ −1<br />
i ˆxi, <br />
t ≥ 0 <br />
Î i G(t + 1) =<br />
n<br />
j=1<br />
Wi,j Îj<br />
G (t), îi G(t + 1) =<br />
n<br />
j=1<br />
Wi,jîj G (t), <br />
ˆxi Σi i Wi,j G <br />
<br />
G <br />
<br />
lim Î<br />
t→∞<br />
i G(t) = IG/n, lim î<br />
t→∞<br />
i G(t) = iG/n, <br />
IG iG <br />
ˆx i G (t) ∈ RMG<br />
ˆ Σi G (t) ∈ RMG×MG i ∈ V t ≥ 0 <br />
ˆx i −1 −1 i i<br />
G(t) = ÎG(t) îG(t), Σˆ i i<br />
G(t) = ÎG(t) , <br />
<br />
lim<br />
t→∞ ˆxi G(t) = ˆxG, lim ˆΣ<br />
t→∞<br />
i G(t) = nΣG, <br />
ˆxG ΣG ˆx i G (t)<br />
ˆx i G (t) i ∈ {1, . . . , n} <br />
<br />
x E [ˆx i G (t)] = x t ≥ 0<br />
t ≥ 0 <br />
Q i G (t) Qi G (t) ˆ Σ i G (t)<br />
<br />
Wi,j = 0 j /∈ Ni <br />
<br />
G(t) = (V, E(t)) <br />
i t → ∞