Collaborative Simultaneous Localization And Map** (C-SLAM) is a vital component for
successful multi-robot operations in environments without an external positioning system …

This paper revisits Kimera-Multi, a distributed multi-robot Simultaneous Localization and
Map** (SLAM) system, towards the goal of deployment in the real world. In particular, this …

We propose fast and communication-efficient optimization algorithms for multirobot rotation
averaging and translation estimation problems that arise from collaborative simultaneous …

This paper focuses on designing edge-weighted networks, whose robustness is
characterized by maximizing Algebraic connectivity, or the second smallest eigenvalue of …

This paper proposes a new nonlinear factor sparsification paradigm for general feature-
based long-term SLAM backend. Given a pose sparsification policy, we aim to scale the …

In this letter, we propose a trade-off optimization algorithm to compute an appropriate
number of edges for measurement (edge) sparsification in pose-graph simultaneous …

The number and arrangement of sensors on mobile robot dramatically influence its
perception capabilities. Ensuring that sensors are mounted in a manner that enables …

Exploration in unknown and unstructured environments is a pivotal requirement for robotic
applications. A robot's exploration behavior can be inherently affected by the performance of …

The exploration of large-scale unknown environments can benefit from the deployment of
multiple robots for collaborative map**. Each robot explores a section of the environment …

In commercial autonomous service robots with several form factors, simultaneous
localization and map** (SLAM) is an essential technology for providing proper services …