Related papers: Improved two-block coordinate descent method for P…

We propose a first-order augmented Lagrangian algorithm (FALC) to solve the composite norm minimization problem min |sigma(F(X)-G)|_alpha + |C(X)- d|_beta subject to A(X)-b in Q; where sigma(X) denotes the vector of singular values of X,…

Embedded deformation nodes based formulation has been widely applied in deformable geometry and graphical problems. Though being promising in stereo (or RGBD) sensor based SLAM applications, it remains challenging to keep constant speed in…

State-of-the-art techniques for simultaneous localization and mapping (SLAM) employ iterative nonlinear optimization methods to compute an estimate for robot poses. While these techniques often work well in practice, they do not provide…

The dual quaternion guidance (DQG) algorithm was selected as the candidate 6-DoF powered-descent guidance algorithm for NASA's Safe and Precise Landing -- Integrated Capabilities Evolution (SPLICE) project. DQG is capable of handling…

Pose Graph Optimization (PGO) is an important non-convex optimization problem and is the state-of-the-art formulation for SLAM in robotics. It also has applications like camera motion estimation, structure from motion and 3D reconstruction…

This paper presents a numerical algorithm for computing 6-degree-of-freedom free-final-time powered descent guidance trajectories. The trajectory generation problem is formulated using a unit dual quaternion representation of the rigid body…

Recovering hidden structures from incomplete or noisy data remains a pervasive challenge across many fields, particularly where multi-dimensional data representation is essential. Quaternion matrices, with their ability to naturally model…

Bilevel optimization, addressing challenges in hierarchical learning tasks, has gained significant interest in machine learning. The practical implementation of the gradient descent method to bilevel optimization encounters computational…

This paper considers the collaborative graph exploration problem in GPS-denied environments, where a group of robots are required to cover a graph environment while maintaining reliable pose estimations in collaborative simultaneous…

We propose a versatile and efficient algorithmic framework for optimizing fermion-to-qubit mappings by generalizing the idea of randomized block coordinate descent. Our greedy approach, termed Randomized Subsystem Descent, iteratively…

We investigate the problem of certifying optimality for sparse generalized linear models (GLMs), where sparsity is enforced through a cardinality constraint. While Branch-and-Bound (BnB) frameworks can certify optimality using perspective…

The problem of computing a representation for a real polynomial as a sum of minimum number of squares of polynomials can be casted as finding a symmetric positive semidefinite real matrix (Gram matrix) of minimum rank subject to linear…

We consider the problem of distributed pose graph optimization (PGO) that has important applications in multi-robot simultaneous localization and mapping (SLAM). We propose the majorization minimization (MM) method for distributed PGO…

Distributed optimization aims to leverage the local computation and communication capabilities of each agent to achieve a desired global objective. This paper addresses the distributed pose graph optimization (PGO) problem under non-convex…

The Graphical Lasso (GLasso) algorithm is fast and widely used for estimating sparse precision matrices (Friedman et al., 2008). Its central role in the literature of high-dimensional covariance estimation rivals that of Lasso regression…

We present a first-order method for solving constrained optimization problems. The method is derived from our previous work, a modified search direction method inspired by singular value decomposition. In this work, we simplify its…

In this paper we develop random block coordinate gradient descent methods for minimizing large scale linearly constrained separable convex problems over networks. Since we have coupled constraints in the problem, we devise an algorithm that…

We present a framework for distributed Pose Graph Optimization (PGO) by formulating the problem as a second-order continuous-time dynamical system evolving on Lie groups. By modeling pose variables as massive particles subject to damping,…

In this paper, we propose the global quaternion full orthogonalization (Gl-QFOM) and global quaternion generalized minimum residual (Gl-QGMRES) methods, which are built upon global orthogonal and oblique projections onto a quaternion matrix…

Simultaneous Localization and Mapping (SLAM) has wide robotic applications such as autonomous driving and unmanned aerial vehicles. Both computational efficiency and localization accuracy are of great importance towards a good SLAM system.…