Pose graph optimization is recast as damped Riemannian dynamics on Lie groups, enabling a fully distributed algorithm with a semi-implicit integrator that converges under both synchronous and asynchronous communication.
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2 Pith papers cite this work. Polarity classification is still indexing.
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The paper introduces diagnostic certificates that separately assess state-space coverage, lifted-feature nondegeneracy, and regression-spectrum quality for Koopman and EDMDc identification, with theoretical guarantees on the smallest singular value under a population spectral gap.
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Distributed Pose Graph Optimization via Continuous Riemannian Dynamics
Pose graph optimization is recast as damped Riemannian dynamics on Lie groups, enabling a fully distributed algorithm with a semi-implicit integrator that converges under both synchronous and asynchronous communication.
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Diagnostic Certificates of Data Quality and Regression Identifiability for Koopman Identification
The paper introduces diagnostic certificates that separately assess state-space coverage, lifted-feature nondegeneracy, and regression-spectrum quality for Koopman and EDMDc identification, with theoretical guarantees on the smallest singular value under a population spectral gap.