• DDF-SAM: Fully Distributed SLAM using Constrained Factor Graphs 

      Cunningham, Alexander; Paluri, Manohar; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010)
      We address the problem of multi-robot distributed SLAM with an extended Smoothing and Mapping (SAM) approach to implement Decentralized Data Fusion (DDF). We present DDF-SAM, a novel method for efficiently and robustly ...
    • Large Scale Experimental Design for Decentralized SLAM 

      Cunningham, Alexander; Dellaert, Frank (Georgia Institute of TechnologySPIE, 2012-05-01)
      This paper presents an analysis of large scale decentralized SLAM under a variety of experimental conditions to illustrate design trade-o s relevant to multi-robot mapping in challenging environments. As a part of ...