Asynchronous Distributed Smoothing and Mapping via On-Manifold Consensus ADMM
Daniel McGann,Kyle Lassak,Michael Kaess,Daniel McGann,Kyle Lassak,Michael Kaess
In this paper we present a fully distributed, asynchronous, and general purpose optimization algorithm for Consensus Simultaneous Localization and Mapping (CSLAM). Multi-robot teams require that agents have timely and accurate solutions to their state as well as the states of the other robots in the team. To optimize this solution we develop a CSLAM back-end based on Consensus ADMM called MESA (Ma...
