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.
SIAM Journal on Optimization , volume=
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FAR-SIGN achieves adversary-resilient fully asynchronous optimization via signed directional projections and two-timescale correction, with almost-sure convergence to stationary points at rates O(n^{-1/4+ε}) first-order and O(n^{-1/6+ε}) zeroth-order.
citing papers explorer
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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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Adversary-Robust Learning from Fully Asynchronous Directional Derivative Estimates
FAR-SIGN achieves adversary-resilient fully asynchronous optimization via signed directional projections and two-timescale correction, with almost-sure convergence to stationary points at rates O(n^{-1/4+ε}) first-order and O(n^{-1/6+ε}) zeroth-order.