{"id":"https://openalex.org/W4389667055","doi":"https://doi.org/10.1109/iros55552.2023.10342377","title":"Resilient and Distributed Multi-Robot Visual SLAM: Datasets, Experiments, and Lessons Learned","display_name":"Resilient and Distributed Multi-Robot Visual SLAM: Datasets, Experiments, and Lessons Learned","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667055","doi":"https://doi.org/10.1109/iros55552.2023.10342377"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342377","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342377","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025546142","display_name":"Yulun Tian","orcid":"https://orcid.org/0000-0002-9017-3022"},"institutions":[{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yulun Tian","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Aeronautics and Astronautics,Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Aeronautics and Astronautics,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082750695","display_name":"Yun Chang","orcid":"https://orcid.org/0000-0002-2829-5256"},"institutions":[{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yun Chang","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Aeronautics and Astronautics,Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Aeronautics and Astronautics,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026125180","display_name":"Long Quang","orcid":"https://orcid.org/0000-0001-8780-7592"},"institutions":[{"id":"https://openalex.org/I2802705668","display_name":"United States Army Combat Capabilities Development Command","ror":"https://ror.org/02rdkx920","country_code":"US","type":"other","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Long Quang","raw_affiliation_strings":["U.S. Army Combat Capabilities Development Command,Army Research Laboratory,Adelphi,MD,USA,20783"],"affiliations":[{"raw_affiliation_string":"U.S. Army Combat Capabilities Development Command,Army Research Laboratory,Adelphi,MD,USA,20783","institution_ids":["https://openalex.org/I2802705668"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010732917","display_name":"Arthur Schang","orcid":null},"institutions":[{"id":"https://openalex.org/I1320675724","display_name":"Parsons (United States)","ror":"https://ror.org/001sezm06","country_code":"US","type":"company","lineage":["https://openalex.org/I1320675724"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arthur Schang","raw_affiliation_strings":["Parsons Corporation,Centreville,VA,USA,20120"],"affiliations":[{"raw_affiliation_string":"Parsons Corporation,Centreville,VA,USA,20120","institution_ids":["https://openalex.org/I1320675724"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037635255","display_name":"Carlos Nieto-Granda","orcid":"https://orcid.org/0000-0002-5507-7705"},"institutions":[{"id":"https://openalex.org/I2802705668","display_name":"United States Army Combat Capabilities Development Command","ror":"https://ror.org/02rdkx920","country_code":"US","type":"other","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carlos Nieto-Granda","raw_affiliation_strings":["U.S. Army Combat Capabilities Development Command,Army Research Laboratory,Adelphi,MD,USA,20783"],"affiliations":[{"raw_affiliation_string":"U.S. Army Combat Capabilities Development Command,Army Research Laboratory,Adelphi,MD,USA,20783","institution_ids":["https://openalex.org/I2802705668"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011665886","display_name":"Jonathan P. How","orcid":"https://orcid.org/0000-0001-8576-1930"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan P. How","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Aeronautics and Astronautics,Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Aeronautics and Astronautics,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042157108","display_name":"Luca Carlone","orcid":null},"institutions":[{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luca Carlone","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Aeronautics and Astronautics,Cambridge,MA,USA,02139"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Aeronautics and Astronautics,Cambridge,MA,USA,02139","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5025546142"],"corresponding_institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":21.8775,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.99282214,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"11027","last_page":"11034"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.834335207939148},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7566494941711426},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.7497986555099487},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7058907747268677},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6127804517745972},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.49733999371528625},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4932977557182312},{"id":"https://openalex.org/keywords/resilience","display_name":"Resilience (materials science)","score":0.48486313223838806},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.48257389664649963},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.42861104011535645},{"id":"https://openalex.org/keywords/strengths-and-weaknesses","display_name":"Strengths and weaknesses","score":0.41827547550201416},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3801201283931732},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.35564595460891724},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.35027748346328735},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.10326120257377625}],"concepts":[{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.834335207939148},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7566494941711426},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.7497986555099487},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7058907747268677},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6127804517745972},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.49733999371528625},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4932977557182312},{"id":"https://openalex.org/C2779585090","wikidata":"https://www.wikidata.org/wiki/Q3457762","display_name":"Resilience (materials science)","level":2,"score":0.48486313223838806},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.48257389664649963},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.42861104011535645},{"id":"https://openalex.org/C63882131","wikidata":"https://www.wikidata.org/wiki/Q17122954","display_name":"Strengths and weaknesses","level":2,"score":0.41827547550201416},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3801201283931732},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35564595460891724},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.35027748346328735},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.10326120257377625},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342377","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342377","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.49000000953674316,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[{"id":"https://openalex.org/G5689811493","display_name":null,"funder_award_id":"W911NF-17-2-0181","funder_id":"https://openalex.org/F4320338295","funder_display_name":"Army Research Laboratory"},{"id":"https://openalex.org/G7283237739","display_name":null,"funder_award_id":"N000141712072","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320315144","display_name":"MathWorks","ror":"https://ror.org/01n8qtk87"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"},{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1964591239","https://openalex.org/W2593712938","https://openalex.org/W2809051097","https://openalex.org/W2891820683","https://openalex.org/W2906636743","https://openalex.org/W2963479576","https://openalex.org/W2964114902","https://openalex.org/W2973258311","https://openalex.org/W2976722701","https://openalex.org/W3002818939","https://openalex.org/W3004418007","https://openalex.org/W3009182881","https://openalex.org/W3043254872","https://openalex.org/W3082411600","https://openalex.org/W3104290757","https://openalex.org/W3160440378","https://openalex.org/W3194332337","https://openalex.org/W3204117507","https://openalex.org/W3206707024","https://openalex.org/W4205616157","https://openalex.org/W4226236972","https://openalex.org/W4226481925","https://openalex.org/W4281479885","https://openalex.org/W4281555123","https://openalex.org/W4283332944","https://openalex.org/W4285506552","https://openalex.org/W4285512293","https://openalex.org/W4300450142","https://openalex.org/W4306247852","https://openalex.org/W4307416281","https://openalex.org/W4308243216","https://openalex.org/W4312882723","https://openalex.org/W4313639518","https://openalex.org/W4383108534","https://openalex.org/W4387682075","https://openalex.org/W4387682275","https://openalex.org/W4388755261","https://openalex.org/W4390357398","https://openalex.org/W6756486208","https://openalex.org/W6845522249","https://openalex.org/W6846006960","https://openalex.org/W6846197156","https://openalex.org/W6847296549","https://openalex.org/W6849103474"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W4238897586","https://openalex.org/W2381912691","https://openalex.org/W2350381577","https://openalex.org/W2353618196","https://openalex.org/W2348074676","https://openalex.org/W2001981202","https://openalex.org/W1750372561","https://openalex.org/W1501082329"],"abstract_inverted_index":{"This":[0],"paper":[1,25],"revisits":[2],"Kimera-Multi,":[3,164],"a":[4,138,142],"distributed":[5],"multi-robot":[6,59,195],"Simultaneous":[7],"Localization":[8],"and":[9,50,56,75,93,107,111,118,123,136,154,161,165,172,182],"Mapping":[10],"(SLAM)":[11],"system,":[12],"towards":[13,189],"the":[14,19,68,128,148,159,177,190],"goal":[15],"of":[16,130,163,180,194],"deployment":[17,193],"in":[18,104],"real":[20],"world.":[21],"In":[22],"particular,":[23],"this":[24],"has":[26],"three":[27],"main":[28],"contributions.":[29],"First,":[30],"we":[31,54,126,157],"describe":[32],"improvements":[33],"to":[34,36,40,83,90,185],"Kimera-Multi":[35,131,181],"make":[37],"it":[38],"resilient":[39],"large-scale":[41],"real-world":[42,192],"deployments,":[43],"with":[44,71,114,141],"particular":[45],"emphasis":[46],"on":[47,67,147],"handling":[48],"intermittent":[49],"unreliable":[51],"communication.":[52],"Second,":[53],"collect":[55],"release":[57,176],"challenging":[58,96],"benchmarking":[60],"datasets":[61,80,184],"obtained":[62],"during":[63],"live":[64,152],"experiments":[65,153],"conducted":[66],"MIT":[69],"campus,":[70],"accurate":[72],"reference":[73],"trajectories":[74,113],"maps":[76],"for":[77,169],"evaluation.":[78],"The":[79],"include":[81],"up":[82],"8":[84,91],"robots":[85],"traversing":[86],"long":[87],"distances":[88],"(up":[89],"km)":[92],"feature":[94],"many":[95],"elements":[97],"such":[98],"as":[99],"severe":[100],"visual":[101],"ambiguities":[102],"(e.g.,":[103,121],"underground":[105],"tunnels":[106],"hallways),":[108],"mixed":[109],"indoor":[110],"outdoor":[112],"different":[115,133],"lighting":[116],"conditions,":[117],"dynamic":[119],"entities":[120],"pedestrians":[122],"cars).":[124],"Lastly,":[125],"evaluate":[127],"resilience":[129],"under":[132],"communication":[134],"scenarios,":[135],"provide":[137],"quantitative":[139],"comparison":[140],"centralized":[143],"baseline":[144],"system.":[145],"Based":[146],"results":[149],"from":[150],"both":[151,170],"subsequent":[155],"analysis,":[156],"discuss":[158],"strengths":[160],"weaknesses":[162],"suggest":[166],"future":[167],"directions":[168],"algorithm":[171],"system":[173],"design.":[174],"We":[175],"source":[178],"code":[179],"all":[183],"facilitate":[186],"further":[187],"research":[188],"reliable":[191],"SLAM":[196],"systems.":[197]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-28T08:17:26.163206","created_date":"2025-10-10T00:00:00"}
