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cs.RO2026
CILC: Cryptographically-secure Inter-agent Loop Closure Candidate Detection for Multi-Agent Collaborative SLAM
Andrew Fishberg, Yixuan Jia, Jonathan P. How
Multi-agent Simultaneous Localization and Mapping (SLAM) and collaborative SLAM (CSLAM) require robots to continuously exchange global descriptors (GDs) to detect inter-agent loop…
cs.RO2024
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…
cs.RO2024
MURP: Multi-Agent Ultra-Wideband Relative Pose Estimation with Constrained Communications in 3D Environments
Andrew Fishberg, Brian Quiter, Jonathan P. How
Inter-agent relative localization is critical for many multi-robot systems operating in the absence of external positioning infrastructure or prior environmental knowledge. We prop…