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Distributed Riemannian Optimization with Lazy Communication for Collaborative Geometric Estimation


Mar 02, 2022
Yulun Tian, Amrit Singh Bedi, Alec Koppel, Miguel Calvo-Fullana, David M. Rosen, Jonathan P. How

* technical report (17 pages, 3 figures) 

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Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems


Jun 28, 2021
Yulun Tian, Yun Chang, Fernando Herrera Arias, Carlos Nieto-Granda, Jonathan P. How, Luca Carlone

* 18 pages, 15 figures 

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Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping


Nov 08, 2020
Yun Chang, Yulun Tian, Jonathan P. How, Luca Carlone

* 9 pages 

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Asynchronous and Parallel Distributed Pose Graph Optimization


Mar 06, 2020
Yulun Tian, Alec Koppel, Amrit Singh Bedi, Jonathan P. How


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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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Search and Rescue under the Forest Canopy using Multiple UAVs


Aug 28, 2019
Yulun Tian, Katherine Liu, Kyel Ok, Loc Tran, Danette Allen, Nicholas Roy, Jonathan P. How

* IJRR submission 

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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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