This paper presents an overview of the Burer-Monteiro method (BM), a technique that has
been applied to solve robot perception problems to certifiable optimality in real-time. BM is …

We present a novel scalable, fully distributed, and online method for simultaneous
localisation and extrinsic calibration for multi-robot setups. Individual a priori unknown robot …

This paper introduces a novel incremental distributed back-end algorithm for Collaborative
Simultaneous Localization and Mapping (C-SLAM). For real-world deployments, robotic …