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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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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
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:24
Last Modified: 09 Sep 2021 00:39
DOI: 10.1016/j.automatica.2017.02.025