Pose graph optimization is recast as damped Riemannian dynamics on Lie groups, enabling a fully distributed algorithm with a semi-implicit integrator that converges under both synchronous and asynchronous communication.
IEEE Transactions on Robotics 40, 22–42
3 Pith papers cite this work. Polarity classification is still indexing.
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Decentralized Riemannian optimization framework for object-based multi-robot pose graph optimization using consensus and approximate-Newton methods to reduce communication overhead while maintaining accuracy.
WeeCare is a conformable EIT-based handheld pad for bladder fullness sensing, evaluated via in-silico simulations, in-vitro phantoms, and one in-vivo human measurement.
citing papers explorer
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Distributed Pose Graph Optimization via Continuous Riemannian Dynamics
Pose graph optimization is recast as damped Riemannian dynamics on Lie groups, enabling a fully distributed algorithm with a semi-implicit integrator that converges under both synchronous and asynchronous communication.
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Decentralized Pose Graph Riemannian Optimization for Object-based Multi-Robot SLAM
Decentralized Riemannian optimization framework for object-based multi-robot pose graph optimization using consensus and approximate-Newton methods to reduce communication overhead while maintaining accuracy.
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WeeCare: Towards Handheld Bladder Fullness Sensing with a Conformable Pad
WeeCare is a conformable EIT-based handheld pad for bladder fullness sensing, evaluated via in-silico simulations, in-vitro phantoms, and one in-vivo human measurement.