Related papers: Spectral Graph Theoretic Methods for Enhancing Net…

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…

This study introduces a mixed-integer linear programming (MILP) model, effectively co-optimizing patrolling, damage assessment, fault isolation, repair, and load re-energization processes. The model is designed to solve a vital operational…

Semidefinite programming (SDP) provides a powerful relaxation for the maximum cut problem. For a graph with rational weights, the decision problem of whether the SDP relaxation for the maximum cut problem is exact is known to be $NP$-hard;…

We solve large-scale mixed-integer linear programs (MILPs) via distributed asynchronous saddle point computation. This is motivated by the MILPs being able to model problems in multi-agent autonomy, e.g., task assignment problems and…

When adapting Simultaneous Mapping and Localization (SLAM) to real-world applications, such as autonomous vehicles, drones, and augmented reality devices, its memory footprint and computing cost are the two main factors limiting the…

In this paper, we consider the problem of distributed pose graph optimization (PGO) that has extensive applications in multi-robot simultaneous localization and mapping (SLAM). We propose majorization minimization methods to distributed PGO…

Let \phi(G) be the minimum conductance of an undirected graph G, and let 0=\lambda_1 <= \lambda_2 <=... <= \lambda_n <= 2 be the eigenvalues of the normalized Laplacian matrix of G. We prove that for any graph G and any k >= 2, \phi(G) =…

Increasing the connectivity of a graph is a pivotal challenge in robust network design. The weighted connectivity augmentation problem is a common version of the problem that takes link costs into consideration. The problem is then to find…

Spectral algorithms are graph partitioning algorithms that partition a node set of a graph into groups by using a spectral embedding map. Clustering techniques based on the algorithms are referred to as spectral clustering and are widely…

Real networks often have severe degree heterogeneity, with the maximum, average, and minimum node degrees differing significantly. This paper examines the impact of degree heterogeneity on statistical limits of network data analysis.…

While Mixed-integer linear programming (MILP) is NP-hard in general, practical MILP has received roughly 100--fold speedup in the past twenty years. Still, many classes of MILPs quickly become unsolvable as their sizes increase, motivating…

In this paper, we aim to design sparse D-optimal (determinantoptimal) pose-graph SLAM problems through the synthesis of sparse graphs with the maximum weighted number of spanning trees. Characterizing graphs with the maximum number of…

This paper presents the Lagrangian duality theory for mixed-integer semidefinite programming (MISDP). We derive the Lagrangian dual problem and prove that the resulting Lagrangian dual bound dominates the bound obtained from the continuous…

Consider robot swarm wireless networks where mobile robots offload their computing tasks to a computing server located at the mobile edge. Our aim is to maximize the swarm lifetime through efficient exploitation of the correlation between…

We study the problem of maximizing the number of spanning trees in a connected graph by adding at most $k$ edges from a given candidate edge set. We give both algorithmic and hardness results for this problem: - We give a greedy algorithm…

This paper aims to maximize algebraic connectivity of networks via topology design under the presence of constraints and an adversary. We are concerned with three problems. First, we formulate the concave maximization topology design…

Multi-robot visual simultaneous localization and mapping (SLAM) system is normally consisted of multiple mobile robots equipped with camera and/or other visual sensors. The networked robots work independently or cooperatively in an unknown…

Robust robotic autonomy remains challenging in complex environments, where loss of stability on uneven or slippery terrain can induce extreme accelerations and angular velocities. Such motions corrupt sensor measurements and degrade state…

We consider the problem of attaining either the maximal increase or reduction of the robustness of a complex network by means of a bounded modification of a subset of the edge weights. We propose two novel strategies combining Krylov…

Pose graph optimization (PGO) is a well-known technique for solving the pose-based simultaneous localization and mapping (SLAM) problem. In this paper, we represent the rotation and translation by a unit quaternion and a three-dimensional…