{"id":"https://openalex.org/W4387682075","doi":"https://doi.org/10.1109/tro.2023.3324818","title":"Majorization Minimization Methods for Distributed Pose Graph Optimization","display_name":"Majorization Minimization Methods for Distributed Pose Graph Optimization","publication_year":2023,"publication_date":"2023-10-16","ids":{"openalex":"https://openalex.org/W4387682075","doi":"https://doi.org/10.1109/tro.2023.3324818"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3324818","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3324818","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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/A5011741007","display_name":"Taosha Fan","orcid":"https://orcid.org/0000-0003-0085-9029"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Taosha Fan","raw_affiliation_strings":["Meta AI, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0085-9029","affiliations":[{"raw_affiliation_string":"Meta AI, Pittsburgh, PA, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067725461","display_name":"Todd D. Murphey","orcid":"https://orcid.org/0000-0003-2262-8176"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Todd D. Murphey","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA"],"raw_orcid":"https://orcid.org/0000-0003-2262-8176","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.3794,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.9808309,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"40","issue":null,"first_page":"22","last_page":"42"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9961000084877014,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.6281902194023132},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5601264834403992},{"id":"https://openalex.org/keywords/majorization","display_name":"Majorization","score":0.5496087670326233},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4862174093723297},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4422774910926819},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4127182960510254},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4112946689128876},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3011500835418701},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.29827314615249634},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.28609171509742737},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28496426343917847}],"concepts":[{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.6281902194023132},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5601264834403992},{"id":"https://openalex.org/C2777818330","wikidata":"https://www.wikidata.org/wiki/Q1994695","display_name":"Majorization","level":2,"score":0.5496087670326233},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4862174093723297},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4422774910926819},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4127182960510254},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4112946689128876},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3011500835418701},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.29827314615249634},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.28609171509742737},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28496426343917847}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2023.3324818","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3324818","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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/G5085026271","display_name":null,"funder_award_id":"1662233","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"},{"id":"https://openalex.org/G924207808","display_name":null,"funder_award_id":"1837515","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"}],"funders":[{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":62,"referenced_works":["https://openalex.org/W1536078990","https://openalex.org/W1536617987","https://openalex.org/W1574773379","https://openalex.org/W1964591239","https://openalex.org/W1987083649","https://openalex.org/W2022682282","https://openalex.org/W2040134986","https://openalex.org/W2042965115","https://openalex.org/W2072951627","https://openalex.org/W2097064869","https://openalex.org/W2109271936","https://openalex.org/W2119538218","https://openalex.org/W2124541940","https://openalex.org/W2127447444","https://openalex.org/W2128019145","https://openalex.org/W2143703915","https://openalex.org/W2149414429","https://openalex.org/W2149454052","https://openalex.org/W2150066425","https://openalex.org/W2167137033","https://openalex.org/W2180077832","https://openalex.org/W2182229738","https://openalex.org/W2336416123","https://openalex.org/W2408654640","https://openalex.org/W2461937780","https://openalex.org/W2508393166","https://openalex.org/W2547811925","https://openalex.org/W2593712938","https://openalex.org/W2726240580","https://openalex.org/W2803685225","https://openalex.org/W2891820683","https://openalex.org/W2955863859","https://openalex.org/W2963479576","https://openalex.org/W2964164560","https://openalex.org/W2967236043","https://openalex.org/W2969945254","https://openalex.org/W2973258311","https://openalex.org/W2976722701","https://openalex.org/W3002818939","https://openalex.org/W3003817311","https://openalex.org/W3009182881","https://openalex.org/W3012089996","https://openalex.org/W3036641799","https://openalex.org/W3043254872","https://openalex.org/W3043258647","https://openalex.org/W3089601117","https://openalex.org/W3104290757","https://openalex.org/W3104386295","https://openalex.org/W3118576301","https://openalex.org/W3124420883","https://openalex.org/W3128885578","https://openalex.org/W3160440378","https://openalex.org/W3206707024","https://openalex.org/W4212856404","https://openalex.org/W4226481925","https://openalex.org/W4387682075","https://openalex.org/W6685664056","https://openalex.org/W6686534882","https://openalex.org/W6746152743","https://openalex.org/W6766816269","https://openalex.org/W6783739601","https://openalex.org/W6840335140"],"related_works":["https://openalex.org/W371413493","https://openalex.org/W1988514170","https://openalex.org/W4320039931","https://openalex.org/W4214702501","https://openalex.org/W2050374035","https://openalex.org/W2524413221","https://openalex.org/W4313303878","https://openalex.org/W4246164825","https://openalex.org/W1932856329","https://openalex.org/W1981103822"],"abstract_inverted_index":{"We":[0,21],"consider":[1],"the":[2,23,69,105,128,141,173,189],"problem":[3],"of":[4,44,78,167,172,193],"distributed":[5,29,98,228],"pose":[6],"graph":[7],"optimization":[8],"(PGO)":[9],"that":[10,38,68,171,216],"has":[11,164],"important":[12],"applications":[13,200],"in":[14,104,125,224],"multirobot":[15],"simultaneous":[16],"localization":[17],"and":[18,85,114,153,163,203,208,222],"mapping":[19],"(SLAM).":[20],"propose":[22],"majorization":[24],"minimization":[25],"(MM)":[26],"method":[27,54,75,84,134,179],"for":[28,97],"PGO":[30],"(":[31,107,116],"<inline-formula":[32,49,70,108,117,129,142,174],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[33,50,71,109,118,130,143,175],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[34,51,72,110,119,131,144,176],"notation=\"LaTeX\">$\\mathsf":[35,52,73,111,120,132,145,177],"{MM\\text{--}PGO}$</tex-math></inline-formula>":[36,53,74,133],")":[37,113],"applies":[39],"to":[40,57,59,89,127,170,184,201,227],"a":[41,101,158,165,181],"broad":[42],"class":[43],"robust":[45],"loss":[46],"kernels.":[47],"The":[48,92,191],"is":[55,76,154,196],"guaranteed":[56],"converge":[58,220],"first-order":[60],"critical":[61],"points":[62],"under":[63],"mild":[64],"conditions.":[65],"Furthermore,":[66],"noting":[67],"reminiscent":[77],"proximal":[79],"methods,":[80,214],"we":[81],"leverage":[82],"Nesterov's":[83],"adopt":[86],"adaptive":[87,160],"restarts":[88],"accelerate":[90],"convergence.":[91],"resulting":[93],"accelerated":[94],"MM":[95,218],"methods":[96,219],"PGO\u2014both":[99],"with":[100],"master":[102,151,182],"node":[103,152,183],"network":[106],"{AMM\\text{--}PGO}^*$</tex-math></inline-formula>":[112,178],"without":[115,135],"{AMM\\text{--}PGO}^{\\#}$</tex-math></inline-formula>":[121,146],")\u2014have":[122],"faster":[123,221],"convergence":[124,168],"contrast":[126],"sacrificing":[136],"theoretical":[137],"guarantees.":[138],"In":[139],"particular,":[140],"method,":[147],"which":[148],"needs":[149],"no":[150],"fully":[155],"decentralized,":[156],"features":[157],"novel":[159],"restart":[161],"scheme":[162],"rate":[166],"comparable":[169],"using":[180],"aggregate":[185],"information":[186],"from":[187],"all":[188],"nodes.":[190],"efficacy":[192],"this":[194],"work":[195],"validated":[197],"through":[198],"extensive":[199],"2-D":[202],"3-D":[204],"SLAM":[205],"benchmark":[206],"datasets":[207],"comprehensive":[209],"comparisons":[210],"against":[211],"existing":[212],"state-of-the-art":[213],"indicating":[215],"our":[217],"result":[223],"better":[225],"solutions":[226],"PGO.":[229]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
