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10 8 6 4 2 0 −2 −4 −6 −8 −10 −10 −8 −6 −4 −2 0 2 4 6 8 xi G (t), ΣiG (t) t = 5
Page 1 and 2:
R. Aragüés (1980, Zaragoza) recei
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Page 8:
Page 12 and 13:
Page 14 and 15: R. Aragüés (1980, Zaragoza) recei
Page 16 and 17: 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 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: 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
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Gdis
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Gdis
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j G i Ni
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G i pi G = (Ri G , T i
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i ∈ V n 2 log(ɛ −1 )
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˜θ a V a ˆpa V a ∈ R3(n−1
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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
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A + A T ∈ M p n, D = blkDiag (A11
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−6 −6.5 −7.5 −8.5 0 4 8 10
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5 4 3 2 1 0 −1 −2 −3 −4 R 2
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i ∈ V blkTr(Σˆx i )
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35 30 25 20 15 10 5 0 0 200 400 600
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k−
Page 155 and 156:
n
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ˆxr(k) = (ˆxk, ˆyk, ˆ θk) T
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ˆx(k + 1) = x(k + 1|k + 1) P(k +
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8 6 4 2 0 −2 F1 Initial m
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W λ2(W ) W
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λn(L) ≤ 2dmax G λ⋆(L)
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i j ∈ Ni i n
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i [C k ]ij j ∈ V i − th
Page 171 and 172:
C k 2 C k ∞ C k ( √ n
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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 −
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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
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6 4 2 0 −2 −4 ST GM R1 R2 R3 R4
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10 0 −10 −20 −30 −40 −50
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(C) msum
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y 1000 500 −500 2000 1000 0 z
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y 1000 0 −1000 3000 2000 1000 z 0
Page 201 and 202:
R1 R1
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2000 1000 0 −1000 −1000 0 1000
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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
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O(n)
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p
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i ∈ V zi(0) ∈ R W ∈ R n
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20 10 0 −10 −20 −30 −40 −
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