Factor graph optimization problems can be lifted via Shor's relaxation and Burer-Monteiro factorization to produce certifiable estimators that preserve the original factor graph connectivity and can be implemented with existing libraries.
Certifiably correct range-aided SLAM
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CONDITIONAL 2representative citing papers
Below a noise-to-observability threshold, spectral initialization recovers power-system voltage angles to first-order accuracy and a zero-duality-gap certificate verifies the unique WLS solution.
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Certifiable Factor Graph Optimization
Factor graph optimization problems can be lifted via Shor's relaxation and Burer-Monteiro factorization to produce certifiable estimators that preserve the original factor graph connectivity and can be implemented with existing libraries.
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Spectral Initialization and Certification for Power System Angle Estimation
Below a noise-to-observability threshold, spectral initialization recovers power-system voltage angles to first-order accuracy and a zero-duality-gap certificate verifies the unique WLS solution.