{"id":"https://openalex.org/W4402214966","doi":"https://doi.org/10.1109/tro.2024.3454430","title":"Certifiably Correct Range-Aided SLAM","display_name":"Certifiably Correct Range-Aided SLAM","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4402214966","doi":"https://doi.org/10.1109/tro.2024.3454430"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3454430","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3454430","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-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/A5084691701","display_name":"Alan Papalia","orcid":"https://orcid.org/0000-0002-6922-135X"},"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"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Alan Papalia","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5095900453","display_name":"Andrew Fishberg","orcid":"https://orcid.org/0000-0002-4589-3792"},"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew Fishberg","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072352828","display_name":"Brendan W. O\u2019Neill","orcid":"https://orcid.org/0000-0003-2491-4571"},"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brendan W. O'Neill","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan P. How","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082166133","display_name":"David M. Rosen","orcid":"https://orcid.org/0000-0001-8964-1602"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David M. Rosen","raw_affiliation_strings":["Northeastern University, Boston, MA, USA"],"affiliations":[{"raw_affiliation_string":"Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110293164","display_name":"John J. Leonard","orcid":null},"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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John J. Leonard","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5084691701"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":18.1722,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.98882761,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"40","issue":null,"first_page":"4265","last_page":"4283"},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/range","display_name":"Range (aeronautics)","score":0.5887235403060913},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5281004309654236},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.525032103061676},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4934217035770416},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.400401771068573},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26598772406578064},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24647381901741028},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23411020636558533},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.06713071465492249}],"concepts":[{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5887235403060913},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5281004309654236},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.525032103061676},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4934217035770416},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.400401771068573},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26598772406578064},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24647381901741028},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23411020636558533},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.06713071465492249}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2024.3454430","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3454430","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3024551116","display_name":null,"funder_award_id":"N00014-19-1-2571","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G4353068777","display_name":null,"funder_award_id":"N00014-23-12164","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G5174054272","display_name":null,"funder_award_id":"FA8702-15-D-0001","funder_id":"https://openalex.org/F4320332467","funder_display_name":"U.S. Air Force"},{"id":"https://openalex.org/G6074045259","display_name":null,"funder_award_id":"DE-NA0003921","funder_id":"https://openalex.org/F4320332369","funder_display_name":"National Nuclear Security Administration"},{"id":"https://openalex.org/G7968227253","display_name":null,"funder_award_id":"N00014-18-1-2832","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F2628460836","display_name":"Office of the Under Secretary of Defense for Research and Engineering","ror":null},{"id":"https://openalex.org/F4320330264","display_name":"MIT Portugal","ror":null},{"id":"https://openalex.org/F4320332369","display_name":"National Nuclear Security Administration","ror":"https://ror.org/03sk1we31"},{"id":"https://openalex.org/F4320332467","display_name":"U.S. Air Force","ror":"https://ror.org/006gmme17"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":99,"referenced_works":["https://openalex.org/W124242857","https://openalex.org/W197261174","https://openalex.org/W608582638","https://openalex.org/W1514108073","https://openalex.org/W1596498359","https://openalex.org/W1969080261","https://openalex.org/W1969142081","https://openalex.org/W1981835750","https://openalex.org/W1981983914","https://openalex.org/W2016087001","https://openalex.org/W2019855902","https://openalex.org/W2021667451","https://openalex.org/W2034757685","https://openalex.org/W2060653311","https://openalex.org/W2064169939","https://openalex.org/W2069829158","https://openalex.org/W2091480518","https://openalex.org/W2098890714","https://openalex.org/W2099287185","https://openalex.org/W2110662303","https://openalex.org/W2112789315","https://openalex.org/W2115001439","https://openalex.org/W2134898473","https://openalex.org/W2134923139","https://openalex.org/W2135948001","https://openalex.org/W2137052305","https://openalex.org/W2138505091","https://openalex.org/W2143075842","https://openalex.org/W2143494529","https://openalex.org/W2158827397","https://openalex.org/W2164785268","https://openalex.org/W2165056835","https://openalex.org/W2166093077","https://openalex.org/W2167564552","https://openalex.org/W2168241268","https://openalex.org/W2180077832","https://openalex.org/W2277678953","https://openalex.org/W2336987264","https://openalex.org/W2344109021","https://openalex.org/W2408654640","https://openalex.org/W2460525765","https://openalex.org/W2461937780","https://openalex.org/W2547811925","https://openalex.org/W2567544418","https://openalex.org/W2597920226","https://openalex.org/W2726240580","https://openalex.org/W2745007981","https://openalex.org/W2749287221","https://openalex.org/W2798375363","https://openalex.org/W2889728390","https://openalex.org/W2902752502","https://openalex.org/W2912522929","https://openalex.org/W2925042648","https://openalex.org/W2962729173","https://openalex.org/W2963368828","https://openalex.org/W2963575844","https://openalex.org/W2990111328","https://openalex.org/W3035581023","https://openalex.org/W3047890446","https://openalex.org/W3088020640","https://openalex.org/W3090386798","https://openalex.org/W3095174237","https://openalex.org/W3099746612","https://openalex.org/W3106366337","https://openalex.org/W3111598592","https://openalex.org/W3118576301","https://openalex.org/W3124420883","https://openalex.org/W3128885578","https://openalex.org/W3130961129","https://openalex.org/W3132343826","https://openalex.org/W3160440378","https://openalex.org/W3180277944","https://openalex.org/W3189526488","https://openalex.org/W3203687845","https://openalex.org/W3208132348","https://openalex.org/W4223616922","https://openalex.org/W4231462035","https://openalex.org/W4285109488","https://openalex.org/W4285507493","https://openalex.org/W4293775970","https://openalex.org/W4297793639","https://openalex.org/W4309127004","https://openalex.org/W4312677187","https://openalex.org/W4317553727","https://openalex.org/W4323539420","https://openalex.org/W4353007136","https://openalex.org/W4383097525","https://openalex.org/W4385825250","https://openalex.org/W4390873746","https://openalex.org/W4402216596","https://openalex.org/W4402890392","https://openalex.org/W6618429421","https://openalex.org/W6635808499","https://openalex.org/W6678075008","https://openalex.org/W6717724730","https://openalex.org/W6780590141","https://openalex.org/W6782877298","https://openalex.org/W6850922908","https://openalex.org/W6912333589"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2772917594","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398","https://openalex.org/W2775347418"],"abstract_inverted_index":{"We":[0,174],"present":[1],"the":[2,33,38,64,67,103,113,117,121,131,142,206,209,233,246,249],"first":[3],"algorithm":[4],"to":[5,11,28,45,77,101,106,155,166,172,183,189,214],"efficiently":[6,115],"compute":[7],"certifiably":[8,87],"optimal":[9,134],"solutions":[10,192],"range-aided":[12],"simultaneous":[13],"localization":[14],"and":[15,56,136,161,225,239,245],"mapping":[16],"(RA-SLAM)":[17],"problems.":[18,180],"Robotic":[19],"navigation":[20],"systems":[21],"increasingly":[22],"incorporate":[23],"point-to-point":[24],"ranging":[25,162],"sensors,":[26],"leading":[27],"state":[29],"estimation":[30],"problems":[31,156,195],"in":[32],"form":[34],"of":[35,99,141,208,248],"RA-SLAM.":[36],"However,":[37],"RA-SLAM":[39,73,89,100,104,132,143],"problem":[40,105,216],"is":[41,75,170,187,236],"significantly":[42],"more":[43],"difficult":[44],"solve":[46],"than":[47],"traditional":[48],"pose-graph":[49],"SLAM:":[50],"Ranging":[51],"sensor":[52],"models":[53],"introduce":[54],"nonconvexity":[55],"single":[57],"range":[58,227],"measurements":[59,163],"do":[60],"not":[61],"uniquely":[62],"determine":[63],"transform":[65],"between":[66,242],"involved":[68],"sensors.":[69],"As":[70],"a":[71,92,107,127],"result,":[72],"inference":[74],"sensitive":[76],"initial":[78],"estimates":[79],"yet":[80],"lacks":[81],"reliable":[82],"initialization":[83],"techniques.":[84],"Our":[85],"approach,":[86],"correct":[88],"(CORA),":[90],"leverages":[91],"novel":[93],"quadratically":[94],"constrained":[95],"quadratic":[96],"programming":[97],"formulation":[98],"relax":[102],"semidefinite":[108],"program":[109],"(SDP).":[110],"CORA":[111,153,176,186],"solves":[112],"SDP":[114,122,210,234,250],"using":[116,150,167],"Riemannian":[118],"Staircase":[119],"methodology;":[120],"solution":[123,140],"provides":[124],"both:":[125],"1)":[126,221],"lower":[128],"bound":[129],"on":[130,177,193],"problem's":[133],"value":[135],"2)":[137,223],"an":[138],"approximate":[139],"problem,":[144],"which":[145],"can":[146],"be":[147],"subsequently":[148],"refined":[149],"local":[151],"optimization.":[152],"applies":[154],"with":[157,199,212],"arbitrary":[158],"pose-pose,":[159],"pose-landmark,":[160],"and,":[164],"due":[165],"convex":[168],"relaxation,":[169],"insensitive":[171],"initialization.":[173],"evaluate":[175],"several":[178],"real-world":[179],"In":[181,202],"contrast":[182],"state-of-the-art":[184],"approaches,":[185],"able":[188],"obtain":[190],"high-quality":[191],"all":[194],"despite":[196],"being":[197],"initialized":[198],"random":[200],"values.":[201],"addition,":[203],"we":[204],"study":[205],"tightness":[207,247],"relaxation":[211,235],"respect":[213],"important":[215],"parameters:":[217],"The":[218],"number":[219],"of:":[220],"robots;":[222],"landmarks;":[224],"3)":[226],"measurements.":[228],"These":[229],"experiments":[230],"demonstrate":[231],"that":[232],"often":[237],"tight":[238],"reveal":[240],"relationships":[241],"graph":[243],"connectivity":[244],"relaxation.":[251]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}