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Distributed methods for synchronization of orthogonal matrices over graphs

Thunberg, J and Bernard, F and Goncalves, J (2017) Distributed methods for synchronization of orthogonal matrices over graphs. Automatica, 80. pp. 243-252.

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Abstract

This paper addresses the problem of synchronizing orthogonal matrices over directed graphs. For synchronized transformations (or matrices), composite transformations over loops equal the identity. We formulate the synchronization problem as a least-squares optimization problem with nonlinear constraints. The synchronization problem appears as one of the key components in applications ranging from 3D-localization to image registration. The main contributions of this work can be summarized as the introduction of two novel algorithms; one for symmetric graphs and one for graphs that are possibly asymmetric. Under general conditions, the former has guaranteed convergence to the solution of a spectral relaxation to the synchronization problem. The latter is stable for small step sizes when the graph is quasi-strongly connected. The proposed methods are verified in numerical simulations.

Item Type: Article
Uncontrolled Keywords: multi-agent systems distributed optimization sensor networks consensus algorithms robust estimation measurement and instrumentation
Subjects: UNSPECIFIED
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:24
Last Modified: 12 Sep 2017 01:21
DOI: