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cs.RO2022
Spectral Sparsification for Communication-Efficient Collaborative Rotation and Translation Estimation
Yulun Tian, Jonathan P. How
We propose fast and communication-efficient optimization algorithms for multi-robot rotation averaging and translation estimation problems that arise from collaborative simultaneou…
cs.RO2022★ 2 cited
Distributed Riemannian Optimization with Lazy Communication for Collaborative Geometric Estimation
Yulun Tian, Amrit Singh Bedi, Alec Koppel +3
We present the first distributed optimization algorithm with lazy communication for collaborative geometric estimation, the backbone of modern collaborative simultaneous localizati…