Results on an Intrinsic Consensus Algorithm on SO(3) with Almost-Global Convergence

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dc.contributor.author Vidal, René
dc.contributor.author Asfari, Bijan
dc.contributor.author Tron, Roberto
dc.date.accessioned 2012-09-07T13:34:54Z
dc.date.available 2012-09-07T13:34:54Z
dc.date.issued 2012
dc.identifier.uri http://jhir.library.jhu.edu/handle/1774.2/36139
dc.description.abstract In this paper we propose a discrete time protocol to align the states of a network of agents evolving in the space of rotations SO(3). The starting point of our work is Riemannian consensus, a general and intrinsic extension of classical consensus algorithms to Riemannian manifolds. Unfortunately, this algorithm is guaranteed to align the states only when the initial states are not too far apart. We show how to modify this algorithm so that the states of the agents can be aligned, in practice, from almost any initial condition. While we focus on the specific case of SO(3), we hope that this work will represent the first step toward more general results. en
dc.description.provenance Submitted by David Reynolds (davidr@jhu.edu) on 2012-09-07T13:31:44Z No. of bitstreams: 1 CDC12-AlmostGlobalConsensus-TR.pdf: 418464 bytes, checksum: 704bf30c596f54f53c2cf12575816622 (MD5) en
dc.description.provenance Approved for entry into archive by David Reynolds(davidr@jhu.edu) on 2012-09-07T13:34:54Z (GMT) No. of bitstreams: 1 CDC12-AlmostGlobalConsensus-TR.pdf: 418464 bytes, checksum: 704bf30c596f54f53c2cf12575816622 (MD5) en
dc.description.provenance Made available in DSpace on 2012-09-07T13:34:54Z (GMT). No. of bitstreams: 1 CDC12-AlmostGlobalConsensus-TR.pdf: 418464 bytes, checksum: 704bf30c596f54f53c2cf12575816622 (MD5) Previous issue date: 2012 en
dc.description.sponsorship This work was supported by JHU startup funds and by grants NSF CNS- 0834470, NSF ECCS-0941463 and ONR N000140910084. en
dc.publisher Department of Electrical and Computer Engineering, Johns Hopkins University en
dc.subject Riemannian geometry en
dc.subject Distributed optimization en
dc.subject Distributed coordination en
dc.subject Almost-global convergence en
dc.subject Consensus algorithms en
dc.title Results on an Intrinsic Consensus Algorithm on SO(3) with Almost-Global Convergence en
dc.type Technical Report en

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