174 citations · 315 across the 12 of their papers we have counts for
16 papers
Compact Keyframe-Optimized Multi-Agent Gaussian Splatting SLAM
Monica M. Q. Li, Pierre-Yves Lajoie, Jialiang Liu +1
Efficient multi-agent 3D mapping is essential for robotic teams operating in unknown environments, but dense representations hinder real-time exchange over constrained communicatio…
3D Foundation Model-Based Loop Closing for Decentralized Collaborative SLAM
Pierre-Yves Lajoie, Benjamin Ramtoula, Daniele De Martini +1
Decentralized Collaborative Simultaneous Localization And Mapping (C-SLAM) techniques often struggle to identify map overlaps due to significant viewpoint variations among robots.…
Multi-Robot Decentralized Collaborative SLAM in Planetary Analogue Environments: Dataset, Challenges, and Lessons Learned
Pierre-Yves Lajoie, Karthik Soma, Haechan Mark Bong +4
Decentralized collaborative simultaneous localization and mapping (C-SLAM) is essential to enable multirobot missions in unknown environments without relying on preexisting localiz…
Fantastic Features and Where to Find Them: A Probing Method to combine Features from Multiple Foundation Models
Benjamin Ramtoula, Pierre-Yves Lajoie, Paul Newman +1
Foundation models (FMs) trained with different objectives and data learn diverse representations, making some more effective than others for specific downstream tasks. Existing ada…
Frequency-based View Selection in Gaussian Splatting Reconstruction
Monica M. Q. Li, Pierre-Yves Lajoie, Giovanni Beltrame
Three-dimensional reconstruction is a fundamental problem in robotics perception. We examine the problem of active view selection to perform 3D Gaussian Splatting reconstructions w…
Hierarchies define the scalability of robot swarms
Vivek Shankar Varadharajan, Karthik Soma, Sepand Dyanatkar +2
The emerging behaviors of swarms have fascinated scientists and gathered significant interest in the field of robotics. Traditionally, swarms are viewed as egalitarian, with robots…