7 papers
Learning Adaptive Solvers for Distributed Factor Graph Optimization on Matrix Lie Groups
Jaeho Shin, Maani Ghaffari, Yulun Tian
Modern robotic perception increasingly involves large-scale geometric optimization problems distributed across multiple robots or sessions. However, existing distributed solvers of…
SERF: Spatiotemporal Environment and Robot Feature Map for Long-Horizon Mobile Manipulation
Sunghwan Kim, Byeonghyun Pak, Kehan Long +2
Long-horizon robot mobile manipulation requires continual reasoning about localization, environment changes, and task progress, all of which are challenging to infer from image obs…
Distributed Pose Graph Optimization via Continuous Riemannian Dynamics
Jaeho Shin, Maani Ghaffari, Yulun Tian
We present a framework for distributed Pose Graph Optimization (PGO) by formulating the problem as a second-order continuous-time dynamical system evolving on Lie groups. By modeli…
Overlapping Domain Decomposition for Distributed Pose Graph Optimization
Aneesa Sonawalla, Yulun Tian, Jonathan P. How
We present ROBO (Riemannian Overlapping Block Optimization), a distributed and parallel approach to multi-robot pose graph optimization (PGO) based on the idea of overlapping domai…
Distribution Estimation for Global Data Association via Approximate Bayesian Inference
Yixuan Jia, Mason B. Peterson, Qingyuan Li +2
Global data association is an essential prerequisite for robot operation in environments seen at different times or by different robots. Repetitive or symmetric data creates signif…
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…