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"As the UAVs descend, they can navigate horizontally toward a user-specified delivery location using little to no power, other than to stabilise the UAV and/or guide the direction of descent.
In the standard Newton Raphson approach, the exact Hessian is computed and used to calculate the direction of descent.
It is easy to see that every converging subsequence of converges to a point in, more precisely to a fixed point of (see also [20]), which is thereby a point for which no feasible direction of descent exists.
The rest of the theorem follows the convergence proof of the coordinate descent method [19, Section ], replacing the set = with the set of feasible points for which there does not exist a feasible direction of descent: since is compact, the coupling constraint implies that is compact, too, and therefore the whole set of feasible points is compact.
The optimum direction of descent (delta vec{alpha }), in the minimization algorithm, is then computed from Hdelta vec{alpha } = - vec{g} (2)and the subsequent iterate is vec{alpha }^{kappa + 1} = vec{alpha }^{kappa } + delta vec{alpha }^{kappa }, (3)where κ represents the iteration index.
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An analytical method is then applied to obtain the optimum placement of each envelop block in the direction of steepest descent.
This process of finding the steepest descending path is repeated for all pixels so that every pixel will point to the direction of steepest descent.
They assume that the agents navigate their strategies towards their goal by taking the direction of steepest descent of their cost function (i.e. the opposite of the utility function).
Given a training pattern x, the minimum probability flow (MPF) learning rule moves weights and thresholds in the direction of steepest descent of the probability flow objective function (5) evaluated at (X = {mathbf{x}}).
The final step once all the pixels have been labelled with the direction of steepest descent is to assign them labels that correspond to the label of their respective minimum/minima.
The velocity vector which reduces the cost in the direction of steepest descent can therefore be chosen asf v γ k = [ D k out ( s ) - D k ( s, Δ p k ) ] n γ k. (26).
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Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com