Related papers: Spectral Sparsification for Communication-Efficien…
Joint optimization of poses and features has been extensively studied and demonstrated to yield more accurate results in feature-based SLAM problems. However, research on jointly optimizing poses and non-feature-based maps remains limited.…
Accurately estimating the positions of multi-agent systems in indoor environments is challenging due to the lack of Global Navigation Satelite System (GNSS) signals. Noisy measurements of position and orientation can cause the integrated…
Localization in a pre-built map is a basic technique for robot autonomous navigation. Existing mapping and localization methods commonly work well in small-scale environments. As a map grows larger, however, more memory is required and…
We consider the problem of maximizing the algebraic connectivity of the communication graph in a network of mobile robots by moving them into appropriate positions. We define the Laplacian of the graph as dependent on the pairwise distance…
Simultaneous localization and mapping (SLAM) is the process of constructing a global model of an environment from local observations of it; this is a foundational capability for mobile robots, supporting such core functions as planning,…
Environment perception is a crucial ability for robot's interaction into an environment. One of the first steps in this direction is the combined problem of simultaneous localization and mapping (SLAM). A new method, called G-SLAM, is…
This paper develops a real-time decentralized metric-semantic SLAM algorithm that enables a heterogeneous robot team to collaboratively construct object-based metric-semantic maps. The proposed framework integrates a data-driven front-end…
Building object-level maps can facilitate robot-environment interactions (e.g. planning and manipulation), but objects could often have multiple probable poses when viewed from a single vantage point, due to symmetry, occlusion or…
We study the problem of communication-efficient distributed vector mean estimation, a commonly used subroutine in distributed optimization and Federated Learning (FL). Rand-$k$ sparsification is a commonly used technique to reduce…
Despite the importance of sparsity in many large-scale applications, there are few methods for distributed optimization of sparsity-inducing objectives. In this paper, we present a communication-efficient framework for L1-regularized…
Although extreme learning machine (ELM) has been successfully applied to a number of pattern recognition problems, it fails to pro-vide sufficient good results in hyperspectral image (HSI) classification due to two main drawbacks. The first…
Laplacian regularized stratified models (LRSM) are models that utilize the explicit or implicit network structure of the sub-problems as defined by the categorical features called strata (e.g., age, region, time, forecast horizon, etc.),…
Simultaneous Localization and Mapping (SLAM) is one of the most essential techniques in many real-world robotic applications. The assumption of static environments is common in most SLAM algorithms, which however, is not the case for most…
Various alignment problems arising in cryo-electron microscopy, community detection, time synchronization, computer vision, and other fields fall into a common framework of synchronization problems over compact groups such as Z/L, U(1), or…
A novel simultaneous localization and radio mapping (SLARM) framework for communication-aware connected robots in the unknown indoor environment is proposed, where the simultaneous localization and mapping (SLAM) algorithm and the global…
Building a distributed spatial awareness within a swarm of locally sensing and communicating robots enables new swarm algorithms. We use local observations by robots of each other and Gaussian Belief Propagation message passing combined…
Collaborative Simultaneous Localization And Mapping (C-SLAM) is a vital component for successful multi-robot operations in environments without an external positioning system, such as indoors, underground or underwater. In this paper, we…
Visual-inertial simultaneous localization and mapping (SLAM) is a key module of robotics and low-speed autonomous vehicles, which is usually limited by the high computation burden for practical applications. To this end, an innovative…
Smooth coordination within a swarm robotic system is essential for the effective execution of collective robot missions. Having efficient communication is key to the successful coordination of swarm robots. This paper proposes a new…
In a multi-robot system, the appropriate allocation of the tasks to the individual robots is a very significant component. The availability of a centralized infrastructure can guarantee an optimal allocation of the tasks. However, in many…