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We show that a distributed network of robots or other devices which make measurements of each other can collaborate to globally localise via efficient ad-hoc peer to peer communication.
Applied Iterative Methods
Louis A. Hageman and David M. Young · 1981
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Loopy belief propagation for approximate inference: An empirical study
Kevin P Murphy, Yair Weiss, and Michael I Jordan · 1999
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Correctness of belief propagation in Gaussian graphical models of arbitrary topology
Yair Weiss and William Freeman · 1999
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Robust distributed estimation in sensor networks using the embedded polygons algorithm
V. Delouille, R. Neelamani, and R. Baraniuk · 2004
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Distributed estimation from relative measurements in sensor networks
P. Barooah and J.P. Hespanha · 2005
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Exactly Sparse Delayed State Filters
R. M. Eustice, H. Singh, and J. J. Leonard · 2005
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C-SAM : Multi-robot SLAM using square root information smoothing
Lars A. A. Andersson and Jonas Nygards · 2008
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Gaussian belief propagation: Theory and Application
D. Bickson · 2008
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Nonparametric belief propagation for distributed tracking of robot networks with noisy inter-distance measurements
Jeremy Schiff, Erik B. Sudderth, and Ken Goldberg · 2009
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Cooperative localization in wireless networks
Henk Wymeersch, Jaime Lien, and Moe Z. Win · 2009
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DDF-SAM: Fully distributed SLAM using constrained factor graphs
Alexander Cunningham, Manohar Paluri, and Frank Dellaert · 2010
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Multiple relative pose graphs for robust cooperative mapping
Been Kim, Michael Kaess, Luke Fletcher, John Leonard, Abraham Bachrach, Nicholas Roy, and Seth Teller · 2010
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Decentralized localization of sparsely-communicating robot networks: A centralized-equivalent approach
Keith Y. K. Leung, Timothy D. Barfoot, and Hugh H. T. Liu · 2010
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Multi-agent localization from noisy relative pose measurements
R. Aragues, L. Carlone, G. Calafiore, and C. Sagues · 2011
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Decentralised cooperative localisation for heterogeneous teams of mobile robots
Tim Bailey, Mitch Bryson, Hua Mu, John Vial, Lachlan McCalman, and Hugh Durrant-Whyte · 2011
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Hybrid cooperative positioning based on distributed belief propagation
Mauricio A. Caceres, Federico Penna, Henk Wymeersch, and Roberto Garello · 2011
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g 2 o g^{2}o : A General Framework for Graph Optimization
R. Kümmerle, G. Grisetti, H. Strasdat, K. Konolige, and W. Burgard · 2011
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AprilTag: A robust and flexible visual fiducial system
Edwin Olson · 2011
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Robust map optimization using dynamic covariance scaling
P. Agarwal, G. D. Tipaldi, L. Spinello, C. Stachniss, and W. Burgard · 2012
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Factor graphs and GTSAM
F. Dellaert · 2012
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iSAM2: Incremental Smoothing and Mapping Using the Bayes Tree
M. Kaess, H. Johannsson, R. Roberts, V. Ila, J. Leonard, and F. Dellaert · 2012
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Decentralized cooperative SLAM for sparsely-communicating robot networks: A centralized-equivalent approach
Keith Y. Leung, Timothy D. Barfoot, and Hugh H. Liu · 2012
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A Benchmark for the Evaluation of RGB-D SLAM Systems
J. Sturm, N. Engelhard, F. Endres, W. Burgard, and D. Cremers · 2012
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DDF-SAM 2.0: Consistent distributed smoothing and mapping
Alexander Cunningham, Vadim Indelman, and Frank Dellaert · 2013
A micro Lie theory for state estimation in robotics
J. Solà, J. Deray, and D. Atchuthan · 2018
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FutureMapping 2: Gaussian Belief Propagation for Spatial AI
A. J. Davison and J. Ortiz · 2019
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SE-Sync: A certifiably correct algorithm for synchronization over the special Euclidean group
D.M. Rosen, L. Carlone, A.S. Bandeira, and J.J. Leonard · 2019
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Majorization minimization methods for distributed pose graph optimization with convergence guarantees
Taosha Fan and Todd Murphey · 2020
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DOOR-SLAM: Distributed, online, and outlier resilient SLAM for robotic teams
P. Lajoie, B. Ramtoula, Y. Chang, L. Carlone, and G. Beltrame · 2020
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Multi-robot SLAM using condensed measurements
M. T. Lazaro, L. M. Paz, P. Pinies, J. A. Castellanos, and G. Grisetti · 2013
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Multi-robot pose graph localization and data association from unknown initial relative poses via expectation maximization
Vadim Indelman, Erik Nelson, Nathan Michael, and Frank Dellaert · 2014
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Gaussian message-based cooperative localization on factor graph in wireless sensor networks
Bin Li, Nan Wu, Hua Wang, Jingming Kuang, and Chengwen Xing · 2014
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Initialization techniques for 3D SLAM: A survey on rotation estimation and its use in pose graph optimization
Luca Carlone, Roberto Tron, Kostas Daniilidis, and Frank Dellaert · 2015
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Gaussian message passing-based cooperative localization on factor graph in wireless networks
Bin Li, Nan Wu, Hua Wang, Po-Hsuan Tseng, and Jingming Kuang · 2015
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Distributed localization from relative noisy measurements: a robust gradient based approach
Marco Todescato, Andrea Carron, Ruggero Carli, and L. Schenato · 2015
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Asynchronous and parallel distributed pose graph optimization
Yulun Tian, Alec Koppel, Amrit Singh Bedi, and Jonathan P. How · 2020
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Kimera-Multi: a system for distributed multi-robot metric-semantic simultaneous localization and mapping
Yun Chang, Yulun Tian, Jonathan P. How, and Luca Carlone · 2021
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Factor graphs: Exploiting structure in robotics
F. Dellaert · 2021
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A survey of distributed optimization methods for multi-robot systems
Trevor Halsted, Olaoluwa Shorinwa, Javier Yu, and Mac Schwager · 2021
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The rise of intelligent matter
C. Kaspar, B. J. Ravoo, W. G. van der Wiel, S. V. Wegner, and W. H. P. Pernice · 2021
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A visual introduction to Gaussian Belief Propagation
J. Ortiz, T. Evans, and A. J. Davison · 2021
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Distributed certifiably correct pose-graph optimization
Y. Tian, K. Khosoussi, D. M. Rosen, and J. P. How · 2021
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MR-iSAM2: Incremental smoothing and mapping with multi-root Bayes tree for multi-robot SLAM
Yetong Zhang, Ming Hsiao, Jing Dong, Jakob Engel, and Frank Dellaert · 2021
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Increasingly intelligent micromachines
T. Huang, H. Gu, and B. Nelson · 2022
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Pierre-Yves Lajoie, Benjamin Ramtoula, Fang Wu, and G. Beltrame · 2022
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Robot operating system 2: Design, architecture, and uses in the wild
Steven Macenski, Tully Foote, Brian Gerkey, Chris Lalancette, and William Woodall · 2022
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Incremental Abstraction in Distributed Probabilistic SLAM Graphs
J. Ortiz, T. Evans, E. Sucar, and A. J. Davison · 2022
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Distributing collaborative multi-robot planning with gaussian belief propagation
Aalok Patwardhan, Riku Murai, and Andrew J. Davison · 2023
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