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Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach

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Algorithmic Foundations of Robotics XII

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 13))

Abstract

In this paper, we aim to design sparse D-optimal (determinantoptimal) pose-graph SLAM problems through the synthesis of sparse graphs with the maximum weighted number of spanning trees. Characterizing graphs with the maximum number of spanning trees is an open problem in general. To tackle this problem, several new theoretical results are established in this paper, including the monotone log-submodularity of the weighted number of spanning trees. By exploiting these structures, we design a complementary pair of near-optimal efficient approximation algorithms with provable guarantees. Our theoretical results are validated using random graphs and a publicly available pose-graph SLAM dataset.

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Author information

Authors and Affiliations

  1. Centre for Autonomous Systems, University of Technology Sydney, Sydney, NSW, 2007, Australia

    Kasra Khosoussi, Shoudong Huang & Gamini Dissanayake

  2. Department of Computer Science, University of Southern California, Los Angeles, CA, 90089, USA

    Gaurav S. Sukhatme

Authors
  1. Kasra Khosoussi
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  2. Gaurav S. Sukhatme
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  3. Shoudong Huang
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  4. Gamini Dissanayake
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Corresponding author

Correspondence to Kasra Khosoussi .

Editor information

Editors and Affiliations

  1. Industrial Engineering and Operations Research, University of California, Berkeley, CA, USA

    Ken Goldberg

  2. Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA

    Pieter Abbeel

  3. Rutgers University, Piscataway, NJ, USA

    Kostas Bekris

  4. University of California, Berkeley, CA, USA

    Lauren Miller

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Khosoussi, K., Sukhatme, G.S., Huang, S., Dissanayake, G. (2020). Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach. In: Goldberg, K., Abbeel, P., Bekris, K., Miller, L. (eds) Algorithmic Foundations of Robotics XII. Springer Proceedings in Advanced Robotics, vol 13. Springer, Cham. https://doi.org/10.1007/978-3-030-43089-4_2

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