...Vision
Supported by ARPA subcontract Z8440902 through University of Maryland
.
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  
...18]
For a review of this work we direct the reader to [10] or [15].
.
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  
...angles
Vectors are written bold, scalars plain and matrices capitalized.
.
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  
... tex2html_wrap_inline866
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 ( tex2html_wrap_inline868 ) positive definiteness of tex2html_wrap_inline870 , and thus guarantees that the search direction tex2html_wrap_inline792 of a quasi-Newton type controller is a descent direction for tex2html_wrap_inline874 . 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).
.
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  .
  

jag@cs.rochester.edu