Semidefinite relaxations for optimization problems over rotation matrices

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Planar pose graph optimization: Duality, optimal solutions, and verification

L Carlone, GC Calafiore, C Tommolillo… - IEEE Transactions on …, 2016 - ieeexplore.ieee.org
Pose graph optimization (PGO) is the problem of estimating a set of poses from pairwise
relative measurements. PGO is a nonconvex problem and, currently, no known technique …
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A Riemannian low-rank method for optimization over semidefinite matrices with block-diagonal constraints

N Boumal - ar** images and is …
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Convex Optimization of Bearing Formation Control of Rigid bodies on Lie Group

S Mansourinasab, M Sojoodi… - arxiv preprint arxiv …, 2023 - arxiv.org
In this paper, the problem of reaching formation for a network of rigid agents over a special
orthogonal group is investigated by considering bearing-only constraints as the desired …
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