Multi-robot simultaneous localization and mapping (SLAM) is a crucial capability to obtain
timely situational awareness over large areas. Real-world applications demand multi-robot …

We present the first fully distributed multi-robot system for dense metric-semantic
Simultaneous Localization and Mapping (SLAM). Our system, dubbed Kimera-Multi, is …

Motivated by the tremendous progress we witnessed in recent years, this paper presents a
survey of the scientific literature on the topic of Collaborative Simultaneous Localization and …

To execute collaborative tasks in unknown environments, a robotic swarm must establish a
global reference frame and locate itself in a shared understanding of the environment …

Outlier-robust estimation involves estimating some parameters (eg, 3D rotations) from data
samples in the presence of outliers, and is typically formulated as a non-convex and non …

Distributed optimization consists of multiple computation nodes working together to minimize
a common objective function through local computation iterations and network-constrained …

This article presents the first certifiably correct algorithm for distributed pose-graph
optimization (PGO), the backbone of modern collaborative simultaneous localization and …

We show that a distributed network of robots or other devices which make measurements of
each other can collaborate to globally localize via efficient ad hoc peer-to-peer …

In this paper, we first study the projections onto the set of unit dual quaternions, and the set
of dual quaternion vectors with unit norms. Then we propose a power method for computing …

3D scene graphs have recently emerged as an expressive high-level map representation
that describes a 3D environment as a layered graph where nodes represent spatial …