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cs.RO2025
Practical and Performant Enhancements for Maximization of Algebraic Connectivity
Leonard Jung, Alan Papalia, Kevin Doherty +1
Long-term state estimation over graphs remains challenging as current graph estimation methods scale poorly on large, long-term graphs. To address this, our work advances a current…
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…