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dc.contributor.authorTian, Yulun
dc.contributor.authorKoppel, Alec
dc.contributor.authorBedi, Amrit Singh
dc.contributor.authorHow, Jonathan P
dc.date.accessioned2021-10-27T20:22:38Z
dc.date.available2021-10-27T20:22:38Z
dc.date.issued2020
dc.identifier.urihttps://hdl.handle.net/1721.1/135250
dc.description.abstract© 2016 IEEE. We present Asynchronous Stochastic Parallel Pose Graph Optimization ($\textsc {ASAPP}$), the first asynchronous algorithm for distributed pose graph optimization (PGO) in multi-robot simultaneous localization and mapping. By enabling robots to optimize their local trajectory estimates without synchronization, $\textsc {ASAPP}$ offers resiliency against communication delays and alleviates the need to wait for stragglers in the network. Furthermore, $\textsc {ASAPP}$ can be applied on the rank-restricted relaxations of PGO, a crucial class of non-convex Riemannian optimization problems that underlies recent breakthroughs on globally optimal PGO. Under bounded delay, we establish the global first-order convergence of $\textsc {ASAPP}$ using a sufficiently small stepsize. The derived stepsize depends on the worst-case delay and inherent problem sparsity, and furthermore matches known result for synchronous algorithms when there is no delay. Numerical evaluations on simulated and real-world datasets demonstrate favorable performance compared to state-of-the-art synchronous approach, and show $\textsc {ASAPP}$'s resilience against a wide range of delays in practice.
dc.language.isoen
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.relation.isversionof10.1109/LRA.2020.3010216
dc.rightsCreative Commons Attribution-Noncommercial-Share Alike
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/
dc.sourcearXiv
dc.titleAsynchronous and Parallel Distributed Pose Graph Optimization
dc.typeArticle
dc.contributor.departmentMassachusetts Institute of Technology. Department of Aeronautics and Astronautics
dc.relation.journalIEEE Robotics and Automation Letters
dc.eprint.versionAuthor's final manuscript
dc.type.urihttp://purl.org/eprint/type/JournalArticle
eprint.statushttp://purl.org/eprint/status/PeerReviewed
dc.date.updated2021-04-30T13:59:19Z
dspace.orderedauthorsTian, Y; Koppel, A; Bedi, AS; How, JP
dspace.date.submission2021-04-30T13:59:20Z
mit.journal.volume5
mit.journal.issue4
mit.licenseOPEN_ACCESS_POLICY
mit.metadata.statusAuthority Work and Publication Information Needed


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