143 research outputs found
Optimal output consensus for linear systems: A topology free approach
In this paper, for any homogeneous system of agents with linear continuous
time dynamics, we formulate an optimal control problem. In this problem a
convex cost functional of the control signals of the agents shall be minimized,
while the outputs of the agents shall coincide at some given finite time. This
is an instance of the rendezvous or finite time consensus problem. We solve
this problem without any constraints on the communication topology and provide
a solution as an explicit feedback control law for the case when the dynamics
of the agents is output controllable. It turns out that the communication graph
topology induced by the solution is complete. Based on this solution for the
finite time consensus problem, we provide a solution to the case of infinite
time horizon. Furthermore, we investigate under what circumstances it is
possible to express the controller as a feedback control law of the output
instead of the states.Comment: 8 page
Inverse Problems for Matrix Exponential in System Identification: System Aliasing
This note addresses identification of the -matrix in continuous time
linear dynamical systems on state-space form. If this matrix is partially known
or known to have a sparse structure, such knowledge can be used to simplify the
identification. We begin by introducing some general conditions for solvability
of the inverse problems for matrix exponential. Next, we introduce "system
aliasing" as an issue in the identification of slow sampled systems. Such
aliasing give rise to non-unique matrix logarithms. As we show, by imposing
additional conditions on and prior knowledge about the -matrix, the issue of
system aliasing can, at least partially, be overcome. Under conditions on the
sparsity and the norm of the -matrix, it is identifiable up to a finite
equivalence class.Comment: 7 page
Higher-order Projected Power Iterations for Scalable Multi-Matching
The matching of multiple objects (e.g. shapes or images) is a fundamental
problem in vision and graphics. In order to robustly handle ambiguities, noise
and repetitive patterns in challenging real-world settings, it is essential to
take geometric consistency between points into account. Computationally, the
multi-matching problem is difficult. It can be phrased as simultaneously
solving multiple (NP-hard) quadratic assignment problems (QAPs) that are
coupled via cycle-consistency constraints. The main limitations of existing
multi-matching methods are that they either ignore geometric consistency and
thus have limited robustness, or they are restricted to small-scale problems
due to their (relatively) high computational cost. We address these
shortcomings by introducing a Higher-order Projected Power Iteration method,
which is (i) efficient and scales to tens of thousands of points, (ii)
straightforward to implement, (iii) able to incorporate geometric consistency,
(iv) guarantees cycle-consistent multi-matchings, and (iv) comes with
theoretical convergence guarantees. Experimentally we show that our approach is
superior to existing methods
A Combinatorial Solution to Non-Rigid 3D Shape-to-Image Matching
We propose a combinatorial solution for the problem of non-rigidly matching a
3D shape to 3D image data. To this end, we model the shape as a triangular mesh
and allow each triangle of this mesh to be rigidly transformed to achieve a
suitable matching to the image. By penalising the distance and the relative
rotation between neighbouring triangles our matching compromises between image
and shape information. In this paper, we resolve two major challenges: Firstly,
we address the resulting large and NP-hard combinatorial problem with a
suitable graph-theoretic approach. Secondly, we propose an efficient
discretisation of the unbounded 6-dimensional Lie group SE(3). To our knowledge
this is the first combinatorial formulation for non-rigid 3D shape-to-image
matching. In contrast to existing local (gradient descent) optimisation
methods, we obtain solutions that do not require a good initialisation and that
are within a bound of the optimal solution. We evaluate the proposed method on
the two problems of non-rigid 3D shape-to-shape and non-rigid 3D shape-to-image
registration and demonstrate that it provides promising results.Comment: 10 pages, 7 figure
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