48 citations · 97 across the 19 of their papers we have counts for
3 papers · 1 filter
Asynchronous and Parallel Distributed Pose Graph Optimization
Yulun Tian, Alec Koppel, Amrit Singh Bedi +1
We present Asynchronous Stochastic Parallel Pose Graph Optimization (ASAPP), the first asynchronous algorithm for distributed pose graph optimization (PGO) in multi-robot simultane…
Distributed Certifiably Correct Pose-Graph Optimization
Yulun Tian, Kasra Khosoussi, David M. Rosen +1
This paper presents the first certifiably correct algorithm for distributed pose-graph optimization (PGO), the backbone of modern collaborative simultaneous localization and mappin…
Block-Coordinate Minimization for Large SDPs with Block-Diagonal Constraints
Yulun Tian, Kasra Khosoussi, Jonathan P. How
The so-called Burer-Monteiro method is a well-studied technique for solving large-scale semidefinite programs (SDPs) via low-rank factorization. The main idea is to solve rank-rest…