3 papers
cs.RO2025
Policies over Poses: Reinforcement Learning based Distributed Pose-Graph Optimization for Multi-Robot SLAM
Sai Krishna Ghanta, Ramviyas Parasuraman
We consider the distributed pose-graph optimization (PGO) problem, which is fundamental in accurate trajectory estimation in multi-robot simultaneous localization and mapping (SLAM…
cs.RO2025
MGPRL: Distributed Multi-Gaussian Processes for Wi-Fi-based Multi-Robot Relative Localization in Large Indoor Environments
Sai Krishna Ghanta, Ramviyas Parasuraman
Relative localization is a crucial capability for multi-robot systems operating in GPS-denied environments. Existing approaches for multi-robot relative localization often depend o…
cs.RO2024
SPACE: 3D Spatial Co-operation and Exploration Framework for Robust Mapping and Coverage with Multi-Robot Systems
Sai Krishna Ghanta, Ramviyas Parasuraman
In indoor environments, multi-robot visual (RGB-D) mapping and exploration hold immense potential for application in domains such as domestic service and logistics, where deploying…