We present the first algorithm to efficiently compute certifiably optimal solutions to range-
aided simultaneous localization and mapping (RA-SLAM) problems. Robotic navigation …

Range-only (RO) pose estimation involves determining a robot's pose over time by
measuring the distance between multiple devices on the robot, known as tags, and devices …

We present novel, convex relaxations for rotation and pose estimation problems that can a
posteriori guarantee global optimality for practical measurement noise levels. Some such …

In this study, we address challenges in multi-robot localization, with a particular focus on
cooperative localization and the observability analysis of relative pose estimation …

Range-based localization is ubiquitous: global navigation satellite systems (GNSS) power
mobile phone-based navigation, and autonomous mobile robots can use range …

Model-based underwater acoustic localization in confined spaces like water tanks typically
depend on the geometry. This paper investigates the problem of water tank wall localization …