Matches in SemOpenAlex for { <https://semopenalex.org/work/W3201376425> ?p ?o ?g. }
Showing items 1 to 95 of
95
with 100 items per page.
- W3201376425 abstract "Distributed pose graph optimization (DPGO) is one of the fundamental techniques of swarm robotics. Currently, the sub-problems of DPGO are built on the native poses. Our validation proves that this approach may introduce an imbalance in the sizes of the sub-problems in real-world scenarios, which affects the speed of DPGO optimization, and potentially increases communication requirements. In addition, the coherence of the estimated poses is not guaranteed when the robots in the swarm fail, or partial robots are disconnected. In this paper, we propose BDPGO, a balanced distributed pose graph optimization framework using the idea of decoupling the robot poses and DPGO. BDPGO re-distributes the poses in the pose graph to the robot swarm in a balanced way by introducing a two-stage graph partitioning method to build balanced subproblems. Our validation demonstrates that BDPGO significantly improves the optimization speed without changing the specific algorithm of DPGO in realistic datasets. What's more, we also validate that BDPGO is robust to robot failure, changes in the wireless network. BDPGO has capable of keeps the coherence of the estimated poses in these situations. The framework also has the potential to be applied to other collaborative simultaneous localization and mapping (CSLAM) problems involved in distributedly solving the factor graph." @default.
- W3201376425 created "2021-09-27" @default.
- W3201376425 creator A5001947944 @default.
- W3201376425 creator A5004883528 @default.
- W3201376425 date "2021-09-09" @default.
- W3201376425 modified "2023-10-01" @default.
- W3201376425 title "BDPGO: Balanced Distributed Pose Graph Optimization Framework for Swarm Robotics" @default.
- W3201376425 cites W1497474439 @default.
- W3201376425 cites W1603765807 @default.
- W3201376425 cites W1910515323 @default.
- W3201376425 cites W1964591239 @default.
- W3201376425 cites W1971630691 @default.
- W3201376425 cites W1990101796 @default.
- W3201376425 cites W1998658698 @default.
- W3201376425 cites W2006023152 @default.
- W3201376425 cites W2040134986 @default.
- W3201376425 cites W2063403497 @default.
- W3201376425 cites W2065309575 @default.
- W3201376425 cites W2166604263 @default.
- W3201376425 cites W2169528473 @default.
- W3201376425 cites W2296228853 @default.
- W3201376425 cites W2341190528 @default.
- W3201376425 cites W2547811925 @default.
- W3201376425 cites W2562224395 @default.
- W3201376425 cites W2593712938 @default.
- W3201376425 cites W2726240580 @default.
- W3201376425 cites W2745859992 @default.
- W3201376425 cites W2886401384 @default.
- W3201376425 cites W2899725245 @default.
- W3201376425 cites W2989150256 @default.
- W3201376425 cites W3002818939 @default.
- W3201376425 cites W3103192159 @default.
- W3201376425 cites W3104001151 @default.
- W3201376425 cites W3104766777 @default.
- W3201376425 cites W3160440378 @default.
- W3201376425 cites W78077100 @default.
- W3201376425 cites W2746349752 @default.
- W3201376425 doi "https://doi.org/10.48550/arxiv.2109.04502" @default.
- W3201376425 hasPublicationYear "2021" @default.
- W3201376425 type Work @default.
- W3201376425 sameAs 3201376425 @default.
- W3201376425 citedByCount "0" @default.
- W3201376425 crossrefType "posted-content" @default.
- W3201376425 hasAuthorship W3201376425A5001947944 @default.
- W3201376425 hasAuthorship W3201376425A5004883528 @default.
- W3201376425 hasBestOaLocation W32013764251 @default.
- W3201376425 hasConcept C11413529 @default.
- W3201376425 hasConcept C120314980 @default.
- W3201376425 hasConcept C126255220 @default.
- W3201376425 hasConcept C127413603 @default.
- W3201376425 hasConcept C132525143 @default.
- W3201376425 hasConcept C133731056 @default.
- W3201376425 hasConcept C137836250 @default.
- W3201376425 hasConcept C154945302 @default.
- W3201376425 hasConcept C169337768 @default.
- W3201376425 hasConcept C181335050 @default.
- W3201376425 hasConcept C205606062 @default.
- W3201376425 hasConcept C33923547 @default.
- W3201376425 hasConcept C34413123 @default.
- W3201376425 hasConcept C41008148 @default.
- W3201376425 hasConcept C80444323 @default.
- W3201376425 hasConcept C90509273 @default.
- W3201376425 hasConceptScore W3201376425C11413529 @default.
- W3201376425 hasConceptScore W3201376425C120314980 @default.
- W3201376425 hasConceptScore W3201376425C126255220 @default.
- W3201376425 hasConceptScore W3201376425C127413603 @default.
- W3201376425 hasConceptScore W3201376425C132525143 @default.
- W3201376425 hasConceptScore W3201376425C133731056 @default.
- W3201376425 hasConceptScore W3201376425C137836250 @default.
- W3201376425 hasConceptScore W3201376425C154945302 @default.
- W3201376425 hasConceptScore W3201376425C169337768 @default.
- W3201376425 hasConceptScore W3201376425C181335050 @default.
- W3201376425 hasConceptScore W3201376425C205606062 @default.
- W3201376425 hasConceptScore W3201376425C33923547 @default.
- W3201376425 hasConceptScore W3201376425C34413123 @default.
- W3201376425 hasConceptScore W3201376425C41008148 @default.
- W3201376425 hasConceptScore W3201376425C80444323 @default.
- W3201376425 hasConceptScore W3201376425C90509273 @default.
- W3201376425 hasLocation W32013764251 @default.
- W3201376425 hasOpenAccess W3201376425 @default.
- W3201376425 hasPrimaryLocation W32013764251 @default.
- W3201376425 hasRelatedWork W1978295341 @default.
- W3201376425 hasRelatedWork W2089011450 @default.
- W3201376425 hasRelatedWork W2182034195 @default.
- W3201376425 hasRelatedWork W2184917583 @default.
- W3201376425 hasRelatedWork W2480315593 @default.
- W3201376425 hasRelatedWork W2992773093 @default.
- W3201376425 hasRelatedWork W3004744844 @default.
- W3201376425 hasRelatedWork W3021805378 @default.
- W3201376425 hasRelatedWork W3195174502 @default.
- W3201376425 hasRelatedWork W3196415855 @default.
- W3201376425 isParatext "false" @default.
- W3201376425 isRetracted "false" @default.
- W3201376425 magId "3201376425" @default.
- W3201376425 workType "article" @default.