at different times and with different frequencies. We provide asynchronous distributed algorithms and prove their convergence in a static environment. We present measurements obtained from a preliminary prototype to illustrate the convergence of the algorithm in a slowly time-varying environment.

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and/or time-varying systems. We concentrate our attention on research dealing with stability and optimality; in these areas the subject has developed, in our opinion, to a stage where it has achieved sufficient maturity to warrant the active interest of researchers in nonlinear control. We distill

), which approximate the posterior under a common Bayesian formulation of the localization problem. Building on the basic MCL algorithm, this article develops a more robust algorithm called MixtureMCL, which integrates two complimentary ways of generating samples in the estimation. To apply this algorithm

In this book we aim to present, in a unified framework, a broad spectrum of mathematical theory that has grown in connection with the study of problems of optimization, equilibrium, control, and stability of linear and nonlinear systems. The title Variational Analysis reflects this breadth. For a

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Currently, most approaches to retrieving textual materials from scientific databases depend on a lexical match between words in users' requests and those in or assigned to documents in a database. Because of the tremendous diversity in the words people use to describe the same document, lexical methods are necessarily incomplete and imprecise. Using the singular value decomposition (SVD), one can take advantage of the implicit higher-order structure in the association of terms with documents by determining the SVD of large sparse term by document matrices. Terms and documents represented by 200-300 of the largest singular vectors are then matched against user queries. We call this retrieval method Latent Semantic Indexing (LSI) because the subspace represents important associative relationships between terms and documents that are not evident in individual documents. LSI is a completely automatic yet intelligent indexing method, widely applicable, and a promising way to improve users...

This paper describes an approach for tracking rigid and articulated objects using a view-based representation. The approach builds on and extends work on eigenspace representations, robust estimation techniques, and parameterized optical flow estimation. First, we note that the least-squares image

covered include: the choice of cost function and robustness; numerical optimization including sparse Newton methods, linearly convergent approximations, updating and recursive methods; gauge (datum) invariance; and quality control. The theory is developed for general robust cost functions rather than

A common problem encountered in such disciplines as statistics, data analysis, signal processing, and neural network research, is nding a suitable representation of multivariate data. For computational and conceptual simplicity, such a representation is often sought as a linear transformation