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. Author manuscript; available in PMC: 2021 Sep 2.
Published in final edited form as: Proc Am Control Conf. 2020 Jul 27;2020:5151–5156. doi: 10.23919/acc45564.2020.9147877

Fig. 3.

Fig. 3.

Effect of initialization algorithm, comparing a warm start (blue) against an SF-approximation (red). Median across 50 trials indicated by dashed lines and the center two quantiles by the shaded regions. (a) Nbgd = 1, G = 6. (b) Nbgd = 1, G = 10.