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obot
feat feat.
robot feat. feat
n
I k G ik G Ik i i k i i ∈
{1, . . . , n}
i
j = i
v k i , v k′
j i = j
k, k ′ ∈ N
i k
k ′ < k v k i , v k′
i I k i ∈ R MG×MG
i k i ∈ R MG i k
I k i = (H k i ) T (Σ k i ) −1 H k i , i k i = (H k i ) T (Σ k i ) −1 ˆx k i ,
i ∈ {1, . . . , n} Ik G ikG k
I k G =
n
I k i , i k G =
i=1
n
i k i .
k
ˆx k G = (I k G) −1 i k G, Σ k G = (I k G) −1 .
(r, s) r
I k i i k i i
R ⊆ {1, . . . , n}
(r, s) r [I k G ]r,s
[i k G ]r [I k i ]r,s [i k i ]r i ∈ R
i=1
[I k G]r,s =
[I k i ]r,s, [i k G]r =
[i k i ]r.
i∈R
i∈R