Related papers: Unit Dual Quaternion Directed Graphs, Formation Co…
A stochastic linear quadratic (LQ) optimal control problem with a pointwise linear equality constraint on the terminal state is considered. A strong Lagrangian duality theorem is proved under a uniform convexity condition on the cost…
The computational complexity of multicut-like problems may vary significantly depending on whether the terminals are fixed or not. In this work we present a comprehensive study of this phenomenon in two types of cut problems in directed…
In this paper, we discuss k-quasi-m-isometric completion problem of unilateral weighted shifts and composition operators on directed graphs with one circuit and more than one branching vertex.
Transformations in the field of computer graphics and geometry are one of the most important concepts for efficient manipulation and control of objects in 2-dimensional and 3-dimensional space. Transformations take many forms each with…
Optimal decentralized controller design is notoriously difficult, but recent research has identified large subclasses of such problems that may be convexified and thus are amenable to solution via efficient numerical methods. One recently…
The eigenvalues of the Laplacian matrix for a class of directed graphs with both positive and negative weights are studied. First, a class of directed signed graphs is investigated in which one pair of nodes (either connected or not) is…
In the field of graph signal processing (GSP), directed graphs present a particular challenge for the "standard approaches" of GSP to due to their asymmetric nature. The presence of negative- or complex-weight directed edges, a graphical…
In this paper we consider the distributed linear quadratic control problem for networks of agents with single integrator dynamics. We first establish a general formulation of the distributed LQ problem and show that the optimal control gain…
In this paper, we propose a novel approach to the problem of augmenting distance-based formation controllers with a secondary constraint for the purpose of preventing 3D formation ambiguities. Specifically, we introduce three controlled…
This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where…
We introduce QuaterGCN, a spectral Graph Convolutional Network (GCN) with quaternion-valued weights at whose core lies the Quaternionic Laplacian, a quaternion-valued Laplacian matrix by whose proposal we generalize two widely-used…
Directed q-analysis is a recent extension of q-analysis, an established method for extracting structure from networks, to directed graphs. Until recently, a lack of efficient algorithms heavily restricted the application of this technique:…
In this paper, various kinds of invariants of directed graphs are summarized. In the first topic, the invariant w(G) for a directed graph G is introduced, which is primarily defined by S. Chen and X.M. Chen to solve a problem of weak…
In this paper we study the linear quadratic regulation (LQR) problem for dynamical systems coupled over large-scale networks and obtain locally computable low-complexity solutions. The underlying large or even infinite networks are…
We obtain a bound on the girth g of a quaternion unit gain graph in terms of the rank r of its adjacency matrix. In particular, we show that g <= r + 2 and characterize all quaternion unit gain graphs for which g = r+2. This extends…
We study the stability and robustness of large-scale vehicular formations, in which each vehicle is modeled as a double-integrator. Two types of information graphs are considered: directed trees and undirected graphs. We prove stability of…
We present a novel approach for solving articulated inverse kinematic problems (e.g., character structures) by means of an iterative dual-quaternion and exponentialmapping approach. As dual-quaternions are a break from the norm and offer a…
Linear-Quadratic-Gaussian (LQG) control is concerned with the design of an optimal controller and estimator for linear Gaussian systems with imperfect state information. Standard LQG assumes the set of sensor measurements, to be fed to the…
In this paper, we investigate a decentralized formation control algorithm for an undirected formation control model. Unlike other formation control problems where only the shape of a configuration counts, we emphasize here also its…
We view the determinant and permanent as functions on directed weighted graphs and introduce their analogues for the undirected graphs. We prove that the task of computing the undirected determinants as well as permanents for planar graphs,…