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dc.contributor.authorVidal, René
dc.contributor.authorAsfari, Bijan
dc.contributor.authorTron, Roberto
dc.date.accessioned2012-09-07T13:34:54Z
dc.date.available2012-09-07T13:34:54Z
dc.date.issued2012
dc.identifier.urihttp://jhir.library.jhu.edu/handle/1774.2/36139
dc.description.abstractIn 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.sponsorshipThis work was supported by JHU startup funds and by grants NSF CNS- 0834470, NSF ECCS-0941463 and ONR N000140910084.en
dc.publisherDepartment of Electrical and Computer Engineering, Johns Hopkins Universityen
dc.subjectRiemannian geometryen
dc.subjectDistributed optimizationen
dc.subjectDistributed coordinationen
dc.subjectAlmost-global convergenceen
dc.subjectConsensus algorithmsen
dc.titleResults on an Intrinsic Consensus Algorithm on SO(3) with Almost-Global Convergenceen
dc.typeTechnical Reporten


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