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Show PDF File - robotics - Universidad de Zaragoza

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[ t ]ij ∈ N mi×mj t <br />

i j Xij(t) i <br />

[ t ]ij<br />

i, j ∈ {1, . . . , n} t ∈ N<br />

Xij(t) = [ t ]ij, <br />

<br />

t = 0 0 = I i, j ∈ {1, . . . , n} [ 0 ]ii = I <br />

[ 0 ]ij = 0 Xij <br />

t > 0<br />

[ t ]ij =<br />

n<br />

ik[t−1 ]kj = <br />

k=1<br />

k∈{Ni∪i}<br />

ik[ t−1 ]kj,<br />

ik = 0 k /∈ {Ni ∪ i} i, j ∈ {1, . . . , n} <br />

t > 0, Xij(t − 1) = [t−1 ]ij <br />

Xij(t) = <br />

ikXkj(t − 1) = <br />

ik[t−1 ]kj = [t ]ij.<br />

k∈{Ni∪i}<br />

k∈{Ni∪i}<br />

Xij(t) = [ t ]ij t > 0.<br />

Xij(t) <br />

t i j.<br />

<br />

<br />

. <br />

Gdis <br />

[Xij(t)]r,s > 0 <br />

f i r f j s <br />

<br />

df <br />

df msum <br />

<br />

¯ <br />

∼ ¯ , r s <br />

[]r,s > 0 ⇔ [ ¯ ]r,s > 0 []r,s = 0 ⇔ [ ¯ ]r,s = 0.<br />

Xij(t)

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