{"id":"https://openalex.org/W7162416321","doi":"https://doi.org/10.48550/arxiv.2605.25051","title":"A Decentralized LiDAR-SLAM System with Certifiably Optimal Pose Graph Optimization","display_name":"A Decentralized LiDAR-SLAM System with Certifiably Optimal Pose Graph Optimization","publication_year":2026,"publication_date":"2026-05-24","ids":{"openalex":"https://openalex.org/W7162416321","doi":"https://doi.org/10.48550/arxiv.2605.25051"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.25051","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.25051","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.25051","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137073471","display_name":"Baoshan Song","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Song, Baoshan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137045197","display_name":"Feng Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Feng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137020272","display_name":"Li-Ta Hsu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hsu, Li-Ta","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8075000047683716,"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":0.8075000047683716,"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":0.08449999988079071,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.050200000405311584,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/coordinate-descent","display_name":"Coordinate descent","score":0.8184000253677368},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.642799973487854},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5942999720573425},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5770000219345093},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.48539999127388},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.4837999939918518},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4465000033378601},{"id":"https://openalex.org/keywords/gradient-descent","display_name":"Gradient descent","score":0.3855000138282776},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.37709999084472656}],"concepts":[{"id":"https://openalex.org/C157553263","wikidata":"https://www.wikidata.org/wiki/Q5168004","display_name":"Coordinate descent","level":2,"score":0.8184000253677368},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.642799973487854},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6273999810218811},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5942999720573425},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5770000219345093},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5397999882698059},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.48539999127388},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.4837999939918518},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4465000033378601},{"id":"https://openalex.org/C153258448","wikidata":"https://www.wikidata.org/wiki/Q1199743","display_name":"Gradient descent","level":3,"score":0.3855000138282776},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.37709999084472656},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.3628999888896942},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.3529999852180481},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.32820001244544983},{"id":"https://openalex.org/C72319582","wikidata":"https://www.wikidata.org/wiki/Q584304","display_name":"Degenerate energy levels","level":2,"score":0.3125999867916107},{"id":"https://openalex.org/C2776637919","wikidata":"https://www.wikidata.org/wiki/Q624380","display_name":"Descent (aeronautics)","level":2,"score":0.30630001425743103},{"id":"https://openalex.org/C146380142","wikidata":"https://www.wikidata.org/wiki/Q1137726","display_name":"Directed graph","level":2,"score":0.2971000075340271},{"id":"https://openalex.org/C2987595161","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Optimization algorithm","level":2,"score":0.28929999470710754},{"id":"https://openalex.org/C164752517","wikidata":"https://www.wikidata.org/wiki/Q5570875","display_name":"Global optimization","level":2,"score":0.28540000319480896},{"id":"https://openalex.org/C88230418","wikidata":"https://www.wikidata.org/wiki/Q131476","display_name":"Graph theory","level":2,"score":0.2815999984741211},{"id":"https://openalex.org/C55660270","wikidata":"https://www.wikidata.org/wiki/Q5164377","display_name":"Constrained optimization","level":2,"score":0.2782000005245209},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2745000123977661},{"id":"https://openalex.org/C57869625","wikidata":"https://www.wikidata.org/wiki/Q1783502","display_name":"Rate of convergence","level":3,"score":0.26579999923706055},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26440000534057617},{"id":"https://openalex.org/C158847443","wikidata":"https://www.wikidata.org/wiki/Q1997812","display_name":"Method of steepest descent","level":2,"score":0.26109999418258667},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.260699987411499}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.25051","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.25051","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.25051","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.25051","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Decentralized":[0],"multi-robot":[1],"LiDAR-SLAM":[2,52],"is":[3],"essential":[4],"for":[5],"collaborative":[6],"missions":[7],"but":[8],"faces":[9],"significant":[10],"challenges":[11],"in":[12,37],"maintaining":[13],"global":[14],"consistency.":[15],"Existing":[16],"frameworks":[17],"predominantly":[18],"rely":[19],"on":[20],"local-search":[21],"optimization":[22],"or":[23,39],"one-time":[24],"coordinate":[25],"alignment,":[26],"which":[27],"are":[28],"prone":[29],"to":[30,101,104],"suboptimal":[31],"convergence":[32],"and":[33],"long-term":[34],"inconsistency,":[35],"especially":[36],"large-scale":[38],"degenerate":[40],"environments.":[41],"To":[42],"address":[43],"these":[44],"limitations,":[45],"this":[46],"paper":[47],"presents":[48],"the":[49,67,90,105],"first":[50],"decentralized":[51],"system":[53,75],"that":[54,89],"integrates":[55],"a":[56],"state-of-the-art":[57,106],"certifiably":[58],"optimal":[59],"Pose":[60],"Graph":[61],"Optimization":[62],"(PGO)":[63],"backend.":[64],"By":[65],"leveraging":[66],"Riemannian":[68],"Block":[69],"Coordinate":[70],"Descent":[71],"(RBCD)":[72],"algorithm,":[73],"our":[74],"ensures":[76],"globally":[77],"consistent":[78],"trajectory":[79,97],"estimation":[80],"without":[81],"requiring":[82],"accurate":[83],"initial":[84],"guesses.":[85],"Experimental":[86],"results":[87],"demonstrate":[88],"proposed":[91],"framework":[92],"achieves":[93],"superior":[94],"robustness,":[95],"improving":[96],"RMSE":[98],"by":[99],"up":[100],"48.9%":[102],"compared":[103],"DiSCo-SLAM.":[107]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-05-27T00:00:00"}