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cs.RO2024
Exploiting Chordal Sparsity for Fast Global Optimality with Application to Localization
Frederike Dümbgen, Connor Holmes, Timothy D. Barfoot
In recent years, many estimation problems in robotics have been shown to be solvable to global optimality using their semidefinite relaxations. However, the runtime complexity of o…
cs.RO2024
SDPRLayers: Certifiable Backpropagation Through Polynomial Optimization Problems in Robotics
Connor Holmes, Frederike Dümbgen, Timothy D. Barfoot
A recent set of techniques in the robotics community, known as certifiably correct methods, frames robotics problems as polynomial optimization problems (POPs) and applies convex,…