In recent years, semidefinite relaxations of common optimization problems in robotics have
attracted growing attention due to their ability to provide globally optimal solutions. In many …

In recent years, there has been remarkable progress in the development of so-called
certifiable perception methods, which leverage semidefinite, convex relaxations to find …

Range-only (RO) pose estimation involves determining a robot's pose over time by
measuring the distance between multiple devices on the robot, known as tags, and devices …

In this study, we address challenges in multi-robot localization, with a particular focus on
cooperative localization and the observability analysis of relative pose estimation …

Differentiable optimization is a powerful new paradigm capable of reconciling model-based
and learning-based approaches in robotics. However, the majority of robotics optimization …

In recent years, many estimation problems in robotics have been shown to be solvable to
global optimality using their semidefinite relaxations. However, the runtime complexity of off …

This paper presents an overview of the Burer-Monteiro method (BM), a technique that has
been applied to solve robot perception problems to certifiable optimality in real-time. BM is …

We present a novel scalable, fully distributed, and online method for simultaneous
localisation and extrinsic calibration for multi-robot setups. Individual a priori unknown robot …

This paper explores the distance-based relative state estimation problem in large-scale
systems, which is hard to solve effectively due to its high-dimensionality and non-convexity …

Human divers face immense challenges in the undersea domain due to constraints on life
support, sensory input, and mobility. Due to these challenges, even simple tasks are difficult …