Asynchronous and Parallel Distributed Pose Graph Optimization

We present Asynchronous Stochastic Parallel Pose Graph Optimization (<inline-formula><tex-math notation="LaTeX">\textsc {ASAPP}</tex-math></inline-formula>), the first asynchronous algorithm for distributed pose graph optimization (PGO) in multi-robot simultaneous l...

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Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 5; no. 4; pp. 5819 - 5826
Main Authors:	Tian, Yulun, Koppel, Alec, Bedi, Amrit Singh, How, Jonathan P.
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.10.2020 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Algorithms Computer simulation Convergence Delay Delays distributed robot systems localization Manifolds mapping Multiple robots Optimization optimization and optimal control Resilience Robot kinematics Simultaneous localization and mapping SLAM Synchronism Trajectory analysis Trajectory optimization
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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