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Block-Coordinate Descent on the Riemannian Staircase for Certifiably Correct Distributed Rotation and Pose Synchronization

Dec 21, 2019
Yulun Tian, Kasra Khosoussi, Jonathan P. How

* technical report version 3 (add missing step in algorithm 1) 

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A Resource-Aware Approach to Collaborative Loop Closure Detection with Provable Performance Guarantees

Jul 10, 2019
Yulun Tian, Kasra Khosoussi, Jonathan P. How

* submitted to IJRR (extension of WAFR 2018 paper invited to IJRR) 

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Block-Coordinate Minimization for Large SDPs with Block-Diagonal Constraints

Mar 09, 2019
Yulun Tian, Kasra Khosoussi, Jonathan P. How

* Technical report 

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CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multi-Agent Data Association

Feb 06, 2019
Kaveh Fathian, Kasra Khosoussi, Parker Lusk, Yulun Tian, Jonathan P. How


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Resource-Aware Algorithms for Distributed Loop Closure Detection with Provable Performance Guarantees

Jan 17, 2019
Yulun Tian, Kasra Khosoussi, Jonathan P. How

* International Workshop on the Algorithmic Foundations of Robotics (WAFR) 2018 (Extended Version) 

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Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection

Jun 01, 2018
Yulun Tian, Kasra Khosoussi, Matthew Giamou, Jonathan P. How, Jonathan Kelly

* RSS 2018 Extended Version 

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Talk Resource-Efficiently to Me: Optimal Communication Planning for Distributed Loop Closure Detection

Mar 10, 2018
Matthew Giamou, Kasra Khosoussi, Jonathan P. How

* ICRA 2018; final version 

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Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach

Nov 03, 2016
Kasra Khosoussi, Gaurav S. Sukhatme, Shoudong Huang, Gamini Dissanayake

* WAFR 2016 

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