Related papers: Designing Sparse Reliable Pose-Graph SLAM: A Graph…
In this paper, we propose several graph-based extensions of the Douglas-Rachford splitting (DRS) method to solve monotone inclusion problems involving the sum of $N$ maximal monotone operators. Our construction is based on a two-layer…
For VSLAM (Visual Simultaneous Localization and Mapping), localization is a challenging task, especially for some challenging situations: textureless frames, motion blur, etc.. To build a robust exploration and localization system in a…
The maximum clique problem is a well known NP-Hard problem with applications in data mining, network analysis, informatics, and many other areas. Although there exist several algorithms with acceptable runtimes for certain classes of…
This paper studies the problem of designing networks that are strong structurally controllable, and robust simultaneously. For given network specifications, including the number of nodes $N$, the number of leaders $N_L$, and diameter $D$,…
Simultaneous localisation and mapping (SLAM) play a vital role in autonomous robotics. Robotic platforms are often resource-constrained, and this limitation motivates resource-efficient SLAM implementations. While sparse visual SLAM…
In this paper, we investigate the problem of generating the spanning trees of a graph $G$ up to the automorphisms or "symmetries" of $G$. After introducing and surveying this problem for general input graphs, we present algorithms that…
Simultaneous localization and mapping (SLAM) methods need to both solve the data association (DA) problem and the joint estimation of the sensor trajectory and the map, conditioned on a DA. In this paper, we propose a novel integrated…
Modern state estimation is often formulated as an optimization problem and solved using efficient local search methods. These methods at best guarantee convergence to local minima, but, in some cases, global optimality can also be…
The study of domination in graphs has led to a variety of domination problems studied in the literature. Most of these follow the following general framework: Given a graph $G$ and an integer $k$, decide if there is a set $S$ of $k$…
Exploration in unknown and unstructured environments is a pivotal requirement for robotic applications. A robot's exploration behavior can be inherently affected by the performance of its Simultaneous Localization and Mapping (SLAM)…
We present a link-by-link rule-based method for constructing all members of the ensemble of spanning trees for any recursively generated, finitely articulated graph, such as the DGM net. The recursions allow for many large-scale properties…
Many discrete optimization problems amount to selecting a feasible set of edges of least weight. We consider in this paper the context of spatial graphs where the positions of the vertices are uncertain and belong to known uncertainty sets.…
Regression trees are one of the oldest forms of AI models, and their predictions can be made without a calculator, which makes them broadly useful, particularly for high-stakes applications. Within the large literature on regression trees,…
In an era of unprecedented deluge of (mostly unstructured) data, graphs are proving more and more useful, across the sciences, as a flexible abstraction to capture complex relationships between complex objects. One of the main challenges…
In this paper, we propose an optimization based SLAM approach to simultaneously optimize the robot trajectory and the occupancy map using 2D laser scans (and odometry) information. The key novelty is that the robot poses and the occupancy…
Achieving robust and precise pose estimation in dynamic scenes is a significant research challenge in Visual Simultaneous Localization and Mapping (SLAM). Recent advancements integrating Gaussian Splatting into SLAM systems have proven…
In this paper, we deal with the problem of creating globally consistent pose graphs in a centralized multi-robot SLAM framework. For each robot to act autonomously, individual onboard pose estimates and maps are maintained, which are then…
In this paper we present ProSLAM, a lightweight stereo visual SLAM system designed with simplicity in mind. Our work stems from the experience gathered by the authors while teaching SLAM to students and aims at providing a highly modular…
Sampling technique has become one of the recent research focuses in the graph-related fields. Most of the existing graph sampling algorithms tend to sample the high degree or low degree nodes in the complex networks because of the…
Statistical analysis of large and sparse graphs is a challenging problem in data science due to the high dimensionality and nonlinearity of the problem. This paper presents a fast and scalable algorithm for partitioning such graphs into…