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cs.RO2024
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…
cs.RO2024
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…