Swarm-slam: Sparse decentralized collaborative simultaneous localization and map** framework for multi-robot systems
Collaborative Simultaneous Localization And Map** (C-SLAM) is a vital component for
successful multi-robot operations in environments without an external positioning system …
successful multi-robot operations in environments without an external positioning system …
Estimation contracts for outlier-robust geometric perception
L Carlone - Foundations and Trends® in Robotics, 2023 - nowpublishers.com
Outlier-robust estimation is a fundamental problem and has been extensively investigated
by statisticians and practitioners. The last few years have seen a convergence across …
by statisticians and practitioners. The last few years have seen a convergence across …
Toward globally optimal state estimation using automatically tightened semidefinite relaxations
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 …
attracted growing attention due to their ability to provide globally optimal solutions. In many …
Benign landscapes of low-dimensional relaxations for orthogonal synchronization on general graphs
Orthogonal group synchronization is the problem of estimating elements from the orthogonal
group given some relative measurements. The least-squares formulation is nonconvex. To …
group given some relative measurements. The least-squares formulation is nonconvex. To …
Spectral measurement sparsification for pose-graph SLAM
Simultaneous localization and map** (SLAM) is a critical capability in autonomous
navigation, but in order to scale SLAM to the setting of “lifelong” SLAM, particularly under …
navigation, but in order to scale SLAM to the setting of “lifelong” SLAM, particularly under …