15 citations · 20 across the 10 of their papers we have counts for
11 papers
Characterizing Refraction-Induced Ranging Bias in Underwater Collaborative Localization
Timothy Kogucki, Alan Papalia
This work studies how refraction-induced bias on acoustic ranging affects multi-agent collaborative localization in a range of oceanographic conditions and spatial scales. While mu…
: Doubly Non-Negative Relaxations for Deep Neural Networks
Hanna Jiamei Zhang, Alan Papalia, Michael Everett +1
Existing linear program (LP) and semidefinite program (SDP) relaxations for rectified linear unit (ReLU) neural network (NN) verification yield overly-conservative safety guarantee…
Distributed Certifiably Correct Range-Aided SLAM
Alexander Thoms, Alan Papalia, Jared Velasquez +2
Reliable simultaneous localization and mapping (SLAM) algorithms are necessary for safety-critical autonomous navigation. In the communication-constrained multi-agent setting, navi…
An Overview of the Burer-Monteiro Method for Certifiable Robot Perception
Alan Papalia, Yulun Tian, David M. Rosen +2
This paper presents an overview of the Burer-Monteiro method (BM), a technique that has been applied to solve robot perception problems to certifiable optimality in real-time. BM i…
MAC: Graph Sparsification by Maximizing Algebraic Connectivity
Kevin Doherty, Alan Papalia, Yewei Huang +3
Simultaneous localization and mapping (SLAM) is a critical capability in autonomous navigation, but memory and computational limits make long-term application of common SLAM techni…
Certifiably Correct Range-Aided SLAM
Alan Papalia, Andrew Fishberg, Brendan W. O'Neill +3
We present the first algorithm to efficiently compute certifiably optimal solutions to range-aided simultaneous localization and mapping (RA-SLAM) problems. Robotic navigation syst…
SCORE: A Second-Order Conic Initialization for Range-Aided SLAM
Alan Papalia, Joseph Morales, Kevin J. Doherty +2
We present a novel initialization technique for the range-aided simultaneous localization and mapping (RA-SLAM) problem. In RA-SLAM we consider measurements of point-to-point dista…
Prioritized Planning for Cooperative Range-Only Localization in Multi-Robot Networks
Alan Papalia, Nicole Thumma, John Leonard
We present a novel path-planning algorithm to reduce localization error for a network of robots cooperatively localizing via inter-robot range measurements. The quality of localiza…
Nested Sampling for Non-Gaussian Inference in SLAM Factor Graphs
Qiangqiang Huang, Alan Papalia, John J. Leonard
We present nested sampling for factor graphs (NSFG), a novel nested sampling approach to approximate inference for posterior distributions expressed over factor-graphs. Performing…
Network Localization Based Planning for Autonomous Underwater Vehicles with Inter-Vehicle Ranging
Alan Papalia, John Leonard
Localization between a swarm of AUVs can be entirely estimated through the use of range measurements between neighboring AUVs via a class of techniques commonly referred to as sens…
Inter-Mobile-Device Distance Estimation using Network Localization Algorithms for Digital Contact Logging Applications
Lillian Clark, Alan Papalia, Jônata Tyska Carvalho +2
Mobile applications are being developed for automated logging of contacts via Bluetooth to help scale up digital contact tracing efforts in the context of the ongoing COVID-19 pand…