We propose fast and communication-efficient optimization algorithms for multirobot rotation
averaging and translation estimation problems that arise from collaborative simultaneous …

Accurate and robust state estimation is critical for autonomous navigation of robot teams.
This task is especially challenging for large groups of size, weight, and power (SWAP) …

Scaling to arbitrarily large bundle adjustment problems requires data and compute to be
distributed across multiple devices. Centralized methods in prior works are only able to …

In this paper, we consider a distributed optimization problem over a network of nodes whose
cost functions depend on a decision variable consisting of two parts: global (shared) part …

We consider a distributed personalized optimization problem over a network of nodes
whose cost functions depend on a decision variable consisting of two parts: global (shared) …

Collaborative geometric estimation, which enables multiple agents to construct globally
consistent geometric models of the environment (eg, maps and robot poses) from noisy local …