Show PDF File - robotics - Universidad de Zaragoza

More documents

Recommendations

Info

Camera A Camera B Camera D Camera C Camera A Camera B Camera D Camera C Camera A Camera B Camera D Camera C (f A 1 , f B 1 ) (f A 2 , f B 2 ), (f A 2 , f B 1 ). A C B D Gcom. Gcen Si Gcen Gcen n n Gcom = (Vcom, Ecom) Gdis = (Fdis, Edis) ⊆ Gcen, Fdis = Fcen, f i r f j s Gcen i j Edis = {(f i r, f j s ) | (f i r, f j s ) ∈ Ecen ∧ (i, j) ∈ Ecom}.
msum |Fdis| = n i=1 mi = msum df Gdis Gdis, dv Gcom df ≤ msum dv ≤ n. ∈ Nmsum×msum Gdis ⎡ ⎤ ij = = ⎢ ⎣ 11 . . . 1n n1 . . . nn F (Si, Sj) if j ∈ {Ni ∪ i}, 0 otherwise. ⎥ ⎦ , i ij, j = 1, . . . , n. Gcom, Gdis Gdis Gdis Gdis |V| ∈ {0, 1} |V|×|V| , i, j ∈ {1, . . . , |V|} t ∈ N (i, j) t th t , t i j. i ∈ Vcom t Xij(t) ∈ N mi×mj , j = 1, . . . , n, t ≥ 0, Xij(0) = I, j = i, 0, j = i, Xij(t + 1) = ikXkj(t), k∈{Ni∪i} ik
Page 1 and 2:
R. Aragüés (1980, Zaragoza) recei
Page 4:
Page 8:
Page 12 and 13:
Page 14 and 15:
Page 16 and 17:
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 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: i th f i r A, Ar,s [A]r,s
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
Page 105 and 106: f i r ∈ ˜ Si Xij ¯r ∈
Page 107 and 108: f i r ∈ ˜ Si i f i r
Page 109 and 110: , s ∈ C [C]r,s ≥ 0, C,
Page 111 and 112: 1, . . . , rℓ, Cℓ.
Page 113 and 114: 0 6 1 9 7 8 8 3 1 0 7 9 8 8 3 6 1 6
Page 115 and 116: 10 8 6 4 2 0 −2 −4 −6 −8
Page 117 and 118: Gdis
Page 120 and 121: Gdis
Page 122 and 123: i, j e, e ′ e i
Page 124 and 125: 0 < θi < π i ∈ V
Page 126 and 127: lim t→∞ T i G(t) = (R i ) T T
Page 128 and 129: zθ ∈ Rm Σzθ ∈ Rm×m
Page 130 and 131: ˆx a Va ˆ θa Va Υw = Σ
Page 132 and 133: tmax ¯ θ a i tmax ¯
Page 134 and 135: i ˆp a i = Υˆp a Va ˆpaV a =
Page 136 and 137: ˆx a V
Page 138 and 139: G a ∈ Ni i ∈ Va J
Page 140 and 141: i ∈ V ˆx cen i (t)
Page 142 and 143: ρ(J) = λeff(W) ||ecen(t)||2
Page 144 and 145:
3 m G
Page 146 and 147:
3.38 ◦ 1.87 ◦ x cm cm y
Page 148 and 149:
−2 −2.5 −3 −3.5 −4 Centr.
Page 150 and 151:
35 30 25 20 15 10 5 0 0 200 400 600
Page 152 and 153:
35 30 25 20 15 10 5 0 0 200 400 600
Page 154 and 155:
k k
Page 156 and 157:
P(k + 1|k) = I Si Si = 1 +
Page 158 and 159:
¯x(k + 1) = ((¯xr(k + 1)) T , ¯x
Page 160 and 161:
8 6 4 2 0 −2 F1 Initial map −4
Page 162 and 163:
i 1 · · · m x 1 i fi1(x 1 i )
Page 164 and 165:
G n k k ∈ N i, j t
Page 166 and 167:
i xi(t) xj(t) (i)
Page 168 and 169:
i ˜ Cij(k) ˜ Cij(k) = 0
Page 170 and 171:
T = diam(G) βi(T ) i ∈ V
Page 172 and 173:
L V T L LVL = λL = diag(0, λ2(
Page 174 and 175:
˙x(t) = −Lˆx(t) = u(t), ei(t) =
Page 176 and 177:
F 16 r1
Page 178 and 179:
14 12 10 8 6 4 2 0 −2 λ * (L) Es
Page 180 and 181:
60m × 45m
Page 182 and 183:
15 10 5 0 −5 −10 −15 F23 −5
Page 184 and 185:
4 2 0 3000 2000 1000 x 10 4 0 20 40
Page 186 and 187:
23 22.5 22 0.5 −0.5 0 20 40 23 22
Page 188 and 189:
1 7 16
Page 190 and 191:
6 4 2 0 −2 k=1 k=2 k=3 k=4 k=5
Page 192 and 193:
9 9 9
Page 194 and 195:
(C) msum
Page 196 and 197:
(c) msum
Page 198 and 199:
y −1000 500 2000 x
Page 200 and 201:
−200 200 400 0 R9 R7 R5 R2 R6 −
Page 202:
2000 1000 0 −1000 −1000 0 1000
Page 205 and 206:
2000 1000 0 −1000 −1000 0 1000
Page 208 and 209:
2000 1000 0 −1000 −1000 0 1000
Page 210 and 211:
2000 1000 0 −1000 −1000 0 1000
Page 212 and 213:
2000 1000 0 −1000 −1000 0 1000
Page 214 and 215:
2000 1000 0 −1000 −1000 0 1000
Page 216 and 217:
O(n)
Page 218 and 219:
p
Page 220:
p
Page 224 and 225:
60×45m
show all

Show PDF File - robotics - Universidad de Zaragoza

Create successful ePaper yourself

Delete template?

Save as template?