Show PDF File - robotics - Universidad de Zaragoza

i ∈ V
G k k ∈ {1, . . . , K}
I k avg i k avg k
I k avg = 1
n
n
j=1
I k j , i k avg = 1
n
n
i k j .
α{I,r,s} σ{Ir,s} α σ u k i {I,r,s} = [Ik i ]r,s
α{i,r} σ{i,r} u k i {i,r} = [ik i ]r αI σI αi
σi I αi
αI = max
r,s∈{1,...,MG} α{I,r,s}, σI = max
r,s∈{1,...,MG} σ{I,r,s},
αi = max α{i,r}, σi = max σ{i,r}.
r∈{1,...,MG}
r∈{1,...,MG}
i ∈ V k ∈ {1, . . . , K} r, s ∈ {1, . . . , MG} t ≥ 0 [I k i (t)]r,s
[i k i (t)]r
i t
|[I k i (t)]r,s − [I k avg]r,s| ≤ αIfk(t) + σIgk(t),
|[i k i (t)]r − [i k avg]r| ≤ αifk(t) + σigk(t),
fk(t) gk(t)
ˆθ k i (t) i x
ˆx k i (t) i ∈ V
k ∈ {1, . . . , K} t
x
E ˆx k i (t) Ik = E i (t)
−1 k
ii (t) = x.
I k i (t) i k i (t)
I 1 j , . . . , I K j i 1 j, . . . , i K j
j=1