The DOI matches its Crossref record; 29 of the 29 references it cites were found in a registry or an index.
Consensus Optimization on Manifolds
Open accessAbstract
The present paper considers distributed consensus algorithms that involve N agents evolving on a connected compact homogeneous manifold. The agents track no external reference and communicate their relative state according to a communication graph. The consensus problem is formulated in terms of the extrema of a cost function. This leads to efficient gradient algorithms to synchronize (i.e., maximizing the consensus) or balance (i.e., minimizing the consensus) the agents; a convenient adaptation of the gradient algorithms is used when the communication graph is directed and time-varying. The cost function is linked to a specific centroid definition on manifolds, introduced here as the induced arithmetic mean, that is easily computable in closed form and may be of independent interest for a number of manifolds. The special orthogonal group $SO(n)$ and the Grassmann manifold $\text{{\it Grass\/}}(p,n)$ are treated as original examples. A link is also drawn with the many existing results on the circle.
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Cites
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Hartley, R., Trumpf, J., Dai, Y., & Li, H. (2013) · International Journal of Computer Vision · doi:10.1007/s11263-012-0601-0 · Cited by 486
Carlone, L., Tron, R., Daniilidis, K., & Dellaert, F. (2015) · 2015 IEEE International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra.2015.7139836 · Cited by 237
Exact and stable recovery of rotations for robust synchronization
Wang, L., & Singer, A. (2013) · Information and Inference · doi:10.1093/imaiai/iat005 · Cited by 178
Intrinsic consensus on SO(3) with almost-global convergence
Tron, R., Afsari, B., & Vidal, R. (2012) · 2012 IEEE 51st IEEE Conference on Decision and Control (CDC) · doi:10.1109/cdc.2012.6426677 · Cited by 94
Choudhary, S., Carlone, L., Nieto, C., Rogers, J., Christensen, H. I., & Dellaert, F. (2016) · 2016 IEEE International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra.2016.7487736 · Cited by 51
Metadata
- Authors
- Sarlette, A., & Sepulchre, R.
- Venue
- SIAM Journal on Control and Optimization
- Published
- 2009-01
- Volume
- 48
- Issue
- 1
- Pages
- 56-76
- ISSN
- 0363-0129 (ISSN-L)
- 1095-7138
- OpenAlex
- W1990304174
- Cited by
- 270
- References
- 29
- FWCI
- 20.47
- Type
- journal article
- Language
- en
- Open access
- green
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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