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04/10/2023
Resilient and Distributed Multi-Robot Visual SLAM: Datasets, Experiments, and Lessons Learned
This paper revisits Kimera-Multi, a distributed multi-robot Simultaneous...
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10/10/2022
Spectral Sparsification for Communication-Efficient Collaborative Rotation and Translation Estimation
We propose fast and communication-efficient distributed algorithms for r...
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03/02/2022
Distributed Riemannian Optimization with Lazy Communication for Collaborative Geometric Estimation
We present the first distributed optimization algorithm with lazy commun...
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06/28/2021
Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems
This paper presents Kimera-Multi, the first multi-robot system that (i) ...
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11/08/2020
Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping
We present the first fully distributed multi-robot system for dense metr...
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03/06/2020
Asynchronous and Parallel Distributed Pose Graph Optimization
We present Asynchronous Stochastic Parallel Pose Graph Optimization (ASA...
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11/09/2019
Block-Coordinate Descent on the Riemannian Staircase for Certifiably Correct Distributed Rotation and Pose Synchronization
This paper presents the first certifiably correct solver for distributed...
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08/28/2019
Search and Rescue under the Forest Canopy using Multiple UAVs
We present a multi-robot system for GPS-denied search and rescue under t...
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07/10/2019
A Resource-Aware Approach to Collaborative Loop Closure Detection with Provable Performance Guarantees
This paper presents resource-aware algorithms for distributed inter-robo...
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03/02/2019
Block-Coordinate Minimization for Large SDPs with Block-Diagonal Constraints
The so-called Burer-Monteiro method is a well-studied technique for solv...
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02/06/2019
CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multi-Agent Data Association
A fundamental challenge in many robotics applications is to correctly sy...
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01/17/2019
Resource-Aware Algorithms for Distributed Loop Closure Detection with Provable Performance Guarantees
Inter-robot loop closure detection, e.g., for collaborative simultaneous...
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06/01/2018