- ...Vision
-
Supported by ARPA subcontract Z8440902 through University of Maryland
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- ...18]
- For a review
of this work we direct the reader to [10] or [15].
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- ...angles
- Vectors are written bold,
scalars plain and matrices capitalized.
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- ...
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Updating formulas of rank 1 and 2 are most common. The motivation of
popular rank 2 formulas, such as the Davidson, Fletcher, Powell
(DFP) [24] is that they preserve symmetric
(
)
positive definiteness of
, and
thus guarantees that the search direction
of a
quasi-Newton type controller is
a descent direction for
. The downside is we know
no strong convergence results of the DFP method in combination
with inexact line searches (which are used in our trust region
controller).
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