clear all; close all; n = 5; % dimensions of x_k(t) T = 100; % time samples collected per vehicle K = 10; % number of vehicles % The following code generates the matrices X and y. % The data corresponding to x^k(t) can be accessed by % indexing X{k}(:,t). Similarly, the data corresponding % to y^k(t) can be accessed by indexing y{k}(t). X = {[0.424037 -0.204215 0.994819 -0.079882 -0.934561 ; 1.286705 0.421802 -0.743660 -0.862781 -1.090652 ; 1.833041 -1.286894 -0.310769 0.974108 -1.387409 ; -0.836604 -1.352145 2.027597 -0.137303 -0.903075 ; 1.482591 -0.310033 0.584990 -1.560311 -1.652754 ; -0.698239 0.112954 -2.033420 -1.612340 1.136582 ; 0.163246 -0.155381 -1.408102 -1.518716 0.386292 ; -0.000773 0.469407 0.257617 -0.357292 -0.067128 ; -0.509378 -0.572608 -0.147907 0.659169 1.435221 ; -0.152034 0.251942 -0.497417 0.116906 0.275289 ; -0.755204 2.229571 0.555155 0.652306 1.008269 ; 0.146106 -0.256634 0.133896 -0.126483 -0.633928 ; 0.907134 -0.273680 1.823889 0.860301 -1.390726 ; 0.921571 -0.573434 -1.121636 0.558871 0.134167 ; -0.305536 -0.128004 0.304804 -1.086446 0.211175 ; 0.105031 1.340132 -0.419193 -0.282889 -0.360992 ; 1.644406 1.401176 0.679065 -0.765370 -1.342348 ; -0.239447 -0.776283 -0.531575 0.917380 1.572003 ; -0.513999 1.925732 0.232006 -0.242143 1.238831 ; -1.415326 -0.179338 -0.212365 0.182273 -0.602319 ; -0.346524 -1.548988 0.389286 0.161680 -1.145638 ; 0.110727 1.743127 -0.887866 -0.962490 0.416635 ; -0.129945 0.117347 0.512961 -1.277008 -0.490826 ; 0.882623 -0.139146 -0.415452 -1.773587 -0.178424 ; -0.907608 1.873070 1.282188 -1.604229 0.719011 ; -1.526036 -1.379993 -0.194978 -0.280711 -1.057952 ; -0.654838 -0.665962 -0.461072 0.854564 0.332510 ; -0.177234 -0.308713 0.938119 -0.757221 -0.712449 ; -0.563550 -1.431237 0.161745 -0.672952 -0.458500 ; 0.024405 -0.496641 1.354066 0.293763 -0.705633 ; 1.406252 1.323406 0.899330 -1.182525 -0.322951 ; -0.910438 0.660778 0.048503 -0.165851 -1.514436 ; -0.340556 1.315784 1.190278 -0.320449 0.347066 ; 0.630265 -1.690907 -0.203764 -0.475959 0.319954 ; -1.886288 -1.047879 -1.180563 0.334985 -0.938140 ; -0.273471 -0.507812 -0.292412 -0.999995 -0.512843 ; -1.316125 -0.955945 -0.017811 -1.068046 0.582594 ; -1.230007 -0.748689 -1.774038 1.741011 2.123593 ; 0.207780 0.702860 0.584273 0.135763 0.906140 ; -0.396190 -0.109471 0.803033 0.859893 -0.219176 ; -1.946080 -0.346152 0.052211 -0.073130 1.819496 ; 1.026016 0.224966 0.151334 -0.344659 0.216561 ; 0.229581 0.017961 0.376375 0.765184 0.626064 ; 0.290708 0.699656 -0.268989 0.329871 1.007890 ; 0.031192 1.179061 -1.588922 -0.294109 -0.392791 ; 1.135709 -0.076749 0.620194 -1.711713 0.147439 ; -0.668634 -0.991653 -0.516485 -0.201191 -0.697553 ; -0.499726 -0.938177 0.313621 0.515318 0.372116 ; 0.225540 -0.754555 -1.171858 0.414564 1.590402 ; -1.166967 -1.333468 0.061788 0.958734 0.879326 ; 2.094128 0.310235 0.606597 1.013435 -0.769300 ; -0.583164 0.250922 -0.146810 0.521291 -1.974894 ; 0.369257 -0.384766 0.406152 -0.769723 -0.426069 ; -1.515250 0.018325 0.007195 2.002313 3.080640 ; -1.019153 -0.084963 -1.832966 -0.395107 0.407659 ; 0.385590 -0.442294 -0.973158 -0.009638 -1.166926 ; -1.224488 0.057476 -1.655403 -1.820858 0.251067 ; -0.393441 0.346651 0.347722 -1.370072 0.677061 ; -0.221692 0.951406 0.312907 0.585115 -0.647899 ; -0.614057 -0.126134 0.905829 0.288039 -1.550900 ; 0.643025 0.451517 1.282903 0.005167 0.340230 ; -0.611114 0.048318 0.208984 1.655421 -1.306693 ; 0.353749 0.792794 -0.549445 -0.832553 1.296579 ; -1.321162 -0.270351 -0.200109 -0.464475 -0.696472 ; -0.958359 0.486009 1.738289 0.106670 -0.194039 ; -0.768207 -1.171689 0.503024 1.283628 -1.759988 ; -0.278622 0.059993 1.570892 1.012820 0.707128 ; 0.460111 1.102736 0.510724 -0.546722 -0.512046 ; -1.179352 -0.359252 1.155440 0.877063 -1.693764 ; -0.729956 0.083427 -0.428521 -0.490115 -2.373105 ; 1.264125 0.583445 -0.179140 -0.003781 0.270835 ; 0.128283 0.996725 0.163029 0.900150 -1.501126 ; -1.411335 0.007535 0.078752 -0.032712 -0.328448 ; -0.425668 -0.826958 -1.144071 -0.391656 -2.031995 ; 0.621559 -0.234372 0.637569 -0.154820 0.038732 ; -2.155733 0.847586 0.081378 -0.166025 -0.707396 ; 0.625066 0.428397 0.991121 -1.004144 -0.209487 ; -0.947422 -1.150103 1.615776 -0.329521 0.052047 ; -0.166463 0.428434 0.501195 -0.800845 1.084869 ; 0.918439 0.984898 -1.085080 0.815624 -0.353659 ; 0.123458 -0.429176 0.867948 1.730813 1.658812 ; 0.983457 1.219259 -0.290661 2.345304 1.695288 ; -1.256254 -2.084660 0.276760 -0.044742 1.373506 ; 1.100409 0.117090 -0.133854 -0.833223 1.362547 ; 1.184709 1.064081 1.053897 1.449234 -0.684148 ; 1.538068 0.661446 0.057670 0.805935 0.016291 ; -0.742417 -2.250680 -0.467852 0.378561 0.689209 ; 0.232478 -2.489423 0.395903 0.695133 1.055478 ; 0.021043 0.073867 0.590629 0.490363 1.163849 ; -1.079955 -0.375826 -0.711094 -2.078342 1.393585 ; -0.470364 -0.047440 -0.348624 0.557419 -0.966161 ; -1.225008 -0.120874 0.659070 -0.575157 -0.309967 ; -1.011197 -0.045840 -0.190140 -1.420052 1.012369 ; -0.387486 -0.477738 -0.599775 -1.148632 0.149517 ; 0.953034 -0.890304 1.168204 -1.463109 -0.829657 ; -0.158245 -0.990559 1.664107 1.682102 -1.452775 ; 0.824521 0.509109 -0.003833 -0.196493 -1.366495 ; 1.039081 0.163014 -0.648180 -1.371893 -0.490495 ; 0.612419 -1.222476 0.961241 1.250297 -0.113173 ; -0.433241 1.530236 0.453167 2.396801 -0.058290 ; ]', [-0.387768 0.943556 -0.005178 0.113417 0.394842 ; 0.165543 -1.046606 2.041262 -0.783425 -0.986353 ; -0.525466 1.886043 -0.682531 2.024256 2.121589 ; -2.449314 -0.034790 -0.177692 0.633826 1.964726 ; 0.395201 0.409586 -2.719124 -0.327812 0.019211 ; 2.864511 -0.318796 -1.662581 -0.729590 0.600658 ; 2.301631 0.681942 -0.863969 0.999356 0.553029 ; -0.711568 -0.011678 -2.984612 -1.376370 0.040163 ; -0.722588 -0.877267 -0.427365 -0.023550 1.089735 ; 0.790228 -0.758523 -1.438962 0.353804 -1.499301 ; 0.238766 0.200893 0.725218 -0.263957 0.611105 ; 0.959598 -0.121089 1.205198 0.894274 0.951144 ; -0.495090 -0.839195 1.890493 1.195211 0.936703 ; -0.611000 -0.516324 0.844329 1.554735 0.326450 ; -0.692232 0.275589 0.186775 -0.956213 -1.160664 ; -0.648194 1.952477 -1.500578 -1.251313 -1.168516 ; 1.665137 0.659098 0.079629 -1.484130 -1.486858 ; 0.636383 -0.077560 0.615442 2.511495 -0.253952 ; -1.291387 0.040845 1.658744 -0.506503 0.329889 ; -0.329705 0.964691 0.080748 1.353462 0.757216 ; 0.707767 -0.935409 1.126501 -0.839656 -0.008353 ; -0.051186 -0.466236 0.181299 -0.905223 0.756233 ; -0.355201 -0.053106 1.081775 0.249356 -0.136596 ; -0.531968 0.178705 -0.228829 0.229504 -0.542022 ; -0.557893 0.131837 -0.071746 0.855473 2.298760 ; 1.305646 -2.014049 -0.274233 0.544926 -1.012847 ; 0.911902 -1.590054 0.437202 -0.809862 -1.224866 ; 0.407489 -1.946104 -0.748968 1.465495 -0.468825 ; 0.850812 -0.861183 -0.131537 0.617120 0.063018 ; -1.859567 -0.115723 -0.079406 -0.313395 0.141401 ; -0.281505 -1.645463 -0.054384 1.022103 -0.116526 ; 0.136545 -1.166856 0.420219 1.191785 -0.769593 ; 1.163376 0.058901 2.090165 -0.186743 -0.820979 ; 0.129683 -1.323115 -1.487830 1.950490 0.719653 ; 0.656214 0.010506 0.722298 0.859857 0.891440 ; -1.070779 0.347961 -1.083751 -0.319342 1.390319 ; 1.469078 -2.279192 -1.584881 -1.554224 -1.169954 ; 3.569155 0.668430 0.510018 0.210000 -1.203420 ; 0.059080 0.350559 -0.048116 0.378244 1.158577 ; 0.387554 -0.039372 -0.350187 0.790745 1.414631 ; -0.074373 -1.521545 -0.693378 0.500157 1.843319 ; -0.247101 0.282396 -1.866916 0.645696 1.639014 ; -0.053114 -0.775974 0.837167 -0.080883 0.659852 ; -1.393494 2.025365 0.383584 1.909588 -1.491097 ; 0.881507 0.493101 -0.574688 -0.783557 2.382626 ; -0.140846 -0.863126 1.819528 -0.958357 -0.250333 ; 1.879677 -1.383306 -0.157124 -0.393414 -1.358474 ; -0.846575 -0.102051 -1.152685 0.454131 0.640529 ; -1.440771 0.728299 -0.054677 0.419551 -1.507417 ; 1.672013 1.313661 1.772267 -0.806487 0.818543 ; -0.928779 -1.317446 1.705107 0.939845 -0.524920 ; -0.043324 -2.070983 -0.367174 -0.448446 1.829844 ; -0.385137 -0.394228 0.320439 -0.195755 1.581078 ; 0.972187 0.320472 -1.625914 0.275547 -0.789422 ; 0.210153 -0.200205 0.169569 2.813857 -0.072678 ; -0.696378 -0.265051 -0.468191 1.036975 0.123340 ; 1.079174 0.593435 -0.592181 -1.221253 0.084349 ; 2.049359 0.194468 0.502011 0.892260 0.848136 ; 2.579368 -1.078136 0.845331 1.026734 -0.420199 ; 0.271928 1.628930 -1.030194 1.112846 -1.264183 ; 1.269374 -1.294984 -0.545021 -0.549685 -1.166278 ; 0.824528 2.084275 0.433978 -1.184463 1.389208 ; 0.452999 0.909154 0.093686 -0.731715 0.343818 ; 0.076847 -0.291161 0.387976 0.614264 -0.833432 ; 0.142658 0.294224 -0.199709 1.581968 0.558451 ; 0.650627 -0.726644 0.250607 0.236536 -0.172654 ; -1.166377 -1.752378 -1.077605 0.390453 -1.200522 ; 1.046238 0.482358 0.374407 -1.062183 1.654012 ; 0.011433 0.718425 0.772534 1.051523 -0.452176 ; -0.886232 0.155021 -0.992148 0.590155 0.504393 ; -1.098650 -1.006027 1.152718 -0.456709 -0.485066 ; -1.627714 -0.644169 0.365041 -0.576839 0.508257 ; -0.109474 1.760477 0.145016 -1.604304 1.415658 ; 0.063206 -1.064472 -0.898015 -0.731853 0.580649 ; 0.471295 0.110281 -0.195307 0.562603 -0.317718 ; -0.829992 -0.771532 -0.832600 -1.215186 0.738271 ; 0.814302 -0.790278 -0.178505 -0.505474 -1.116428 ; -0.040591 -0.394675 0.148299 -0.315868 0.651193 ; -0.437063 -0.213898 -0.060620 -1.846405 -1.240090 ; -0.440503 0.774550 0.139037 0.333449 -1.449245 ; 1.666598 -0.644300 0.567207 0.192076 -1.035392 ; 0.846329 -0.094471 -1.311816 -1.348965 -1.405919 ; -0.324390 0.977272 -0.983861 -1.148791 1.049999 ; 0.219055 0.062094 0.561434 -1.770173 -0.098188 ; 0.396472 -1.284528 0.306844 -0.805609 -0.023645 ; -0.219495 1.231634 -0.969180 0.353647 1.943791 ; -1.010938 0.861338 -1.277616 0.871788 -1.287467 ; 0.160688 -1.655943 -0.021541 0.822516 -1.080475 ; -2.059162 -0.401531 -1.561153 0.664868 -0.331083 ; -0.253821 0.699000 -0.791640 1.542751 1.741216 ; -0.091894 -0.604241 0.157800 -0.639372 0.701365 ; 0.088440 -0.009645 -0.568623 -0.681555 0.699888 ; 0.214995 0.696608 0.521613 -1.791506 0.955996 ; -0.748967 -0.424147 0.783886 -0.063520 -0.043871 ; 0.340888 0.156501 -0.269310 1.834536 -0.751766 ; 0.594088 0.283005 0.743897 -0.430771 -0.064778 ; 1.895897 0.011743 -1.534608 0.374197 -0.358653 ; -0.384310 -0.721664 1.111720 0.972322 1.805180 ; 0.765856 2.789475 0.754993 1.275369 -0.347984 ; 0.748328 1.320755 0.219576 -0.513371 1.017678 ; ]', [-0.203566 0.920661 -0.198657 -1.521635 -0.581264 ; 1.899690 1.442546 -0.412683 1.045037 -0.222910 ; 0.470226 -0.803671 -0.660426 0.149728 -0.058720 ; 0.564118 -0.654261 -0.613559 -0.369889 2.078153 ; 0.189844 -0.167695 0.543550 1.416389 1.147453 ; 1.109509 -0.943085 0.645249 -0.474349 1.031763 ; 0.800679 -1.257083 1.560084 0.107445 -0.108917 ; -2.813565 1.100718 -0.883440 -0.161597 0.672652 ; 0.580051 0.274092 0.456244 0.478578 0.132304 ; 0.417819 1.061468 -0.643276 0.656187 -0.043854 ; -0.265837 0.704297 -0.788593 -1.912658 -1.259138 ; -1.309006 0.132033 1.151203 -0.000348 -0.306356 ; -0.571816 0.889082 0.579978 -0.358521 -0.453634 ; 0.076850 0.135048 1.263487 1.196641 -1.786010 ; -2.419926 0.525625 0.986984 1.211267 0.798647 ; 0.407766 1.875185 1.003876 0.070876 -0.270275 ; 0.120372 0.097959 -1.008344 0.787070 -0.443351 ; -0.277979 -0.768742 0.090164 0.585684 0.802924 ; 0.858920 -0.590811 0.921855 0.855634 0.578557 ; 0.553080 -1.444654 -0.930761 -0.213141 -0.478634 ; 0.443076 -0.485100 2.091581 0.111144 1.399351 ; -0.560803 -0.013641 2.229413 -0.697523 -0.245686 ; -0.453124 -0.198948 -0.973990 -2.977576 -0.435170 ; 1.302827 0.604586 -0.785619 -1.442789 0.004077 ; -0.701763 1.193688 0.355048 0.287355 -1.085578 ; -1.849207 0.894012 0.024845 -0.532444 0.438287 ; 1.383950 0.641371 -1.856742 0.076812 0.460418 ; 0.541653 0.309409 -0.759458 -0.024772 -1.943210 ; 0.573153 0.598171 -0.948130 0.045697 -1.576586 ; 1.160349 1.384942 0.106155 0.936550 -0.420999 ; 0.456799 1.343030 -0.345985 1.781831 0.796275 ; -0.062440 0.364952 0.895218 -0.570781 -1.458335 ; -0.759130 -0.338211 1.042283 -1.828378 0.433694 ; -0.587976 0.423531 -1.450133 0.566101 -0.588952 ; 0.956656 0.072550 -0.874072 -0.075174 -0.405654 ; -0.911068 -0.297515 0.852308 -1.443106 0.269109 ; 1.579076 0.764443 0.291860 -0.551561 -0.274988 ; -0.034668 -1.530649 1.346252 2.016946 -0.205847 ; -0.596408 0.701352 0.223205 -1.166247 -0.373828 ; 1.291215 0.933989 -0.118617 0.333330 -0.286628 ; 0.184298 -0.203380 -0.880876 0.449946 1.005279 ; 0.652575 -0.128188 -0.730059 -0.440933 -0.883112 ; -1.452844 -0.683264 0.910618 2.080617 0.248238 ; -1.398916 2.109815 -0.293316 0.128031 -0.566423 ; 0.233298 -0.195335 -0.646158 -1.837784 0.981180 ; -1.523222 -0.345123 0.998305 0.204042 -0.511244 ; -0.309793 -0.254411 -0.475136 1.014083 0.509428 ; -0.087844 -1.058024 -0.161418 0.842476 -2.130713 ; 0.721623 1.781698 -0.985921 -1.094315 0.279528 ; -0.867445 -1.358226 -0.945791 0.782456 -1.105892 ; 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