From 7baa556800c838b8fc29dc521dcfa4455cefcc23 Mon Sep 17 00:00:00 2001 From: NotXia <35894453+NotXia@users.noreply.github.com> Date: Tue, 10 Jun 2025 17:17:15 +0200 Subject: [PATCH] Fix typo --- .../sections/_safety_controllers.tex | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/year2/distributed-autonomous-systems/sections/_safety_controllers.tex b/src/year2/distributed-autonomous-systems/sections/_safety_controllers.tex index fa954f0..93838a7 100644 --- a/src/year2/distributed-autonomous-systems/sections/_safety_controllers.tex +++ b/src/year2/distributed-autonomous-systems/sections/_safety_controllers.tex @@ -191,7 +191,7 @@ - &\gamma(V_{ij}^{s}(\x_i, \x_j)) \leq 0 \\ &\forall j \in \mathcal{N}_i, \forall i \in \{1, \dots, N\} \Big\} \end{aligned} \\ - = \Big\{ \u \in \mathbb{R}^{dN} \mid -2(\x_i, \x_j)^T \u_i - 2(\x_j-\x_i)^T \u_j - \gamma(V_{ij}^s(\x_i, \x_j)) \leq 0 \,\,\forall j \in \mathcal{N}_i, \forall i \in \{1, \dots, N\} \Big\} + = \Big\{ \u \in \mathbb{R}^{dN} \mid -2(\x_i-\x_j)^T \u_i - 2(\x_j-\x_i)^T \u_j - \gamma(V_{ij}^s(\x_i, \x_j)) \leq 0 \,\,\forall j \in \mathcal{N}_i, \forall i \in \{1, \dots, N\} \Big\} \end{aligned} \] @@ -208,7 +208,7 @@ \arg\min_{\u \in \mathbb{R}^N} \sum_{i=1}^{N} \Vert \u_i - \u_i^\text{ref} \Vert^2 \\ \begin{aligned} \text{subject to } - &-2(\x_i, \x_j)^T \u_i - 2(\x_j-\x_i)^T \u_j - \gamma(V_{ij}^s(\x_i, \x_j)) \leq 0 \\ + &-2(\x_i-\x_j)^T \u_i - 2(\x_j-\x_i)^T \u_j - \gamma(V_{ij}^s(\x_i, \x_j)) \leq 0 \\ & \Vert \u_i \Vert \leq \u_i^\text{max} \\ & \forall j \in \mathcal{N}_i, \forall i \in \{ 1, \dots, N \} \end{aligned}