arXiv subjects

Aneesa Sonawalla

Publications and source records attributed to Aneesa Sonawalla.

3 recordsLinked to original sources

arXiv2026

Overlapping Domain Decomposition for Distributed Pose Graph Optimization

We present ROBO (Riemannian Overlapping Block Optimization), a distributed and parallel approach to multi-robot pose graph optimization (PGO) based on the idea of overlapping domain decomposition. ROBO offers a middle ground between centralized and fully distributed solvers, where the amount of pose information shared between robots at each optimization iteration can be set according to the available communication resources. Sharing additional pose information between neighboring robots effectively creates overlapping optimization blocks in the underlying pose graph, which substantially reduces the number of iterations required to converge. Through extensive experiments on benchmark PGO datasets, we demonstrate the applicability and feasibility of ROBO in different initialization scenarios, using various cost functions, and under different communication regimes. We also analyze the tradeoff between the increased communication and local computation required by ROBO's overlapping blocks and the resulting faster convergence. We show that overlaps with an average inter-robot data cost of only 36 Kb per iteration can converge 3.1$\times$ faster in terms of iterations than state-of-the-art distributed PGO approaches. Furthermore, we develop an asynchronous variant of ROBO that is robust to network delays and suitable for real-world robotic applications.

cs.RO↗

arXiv2025

GRAND-SLAM: Local Optimization for Globally Consistent Large-Scale Multi-Agent Gaussian SLAM

3D Gaussian splatting has emerged as an expressive scene representation for RGB-D visual SLAM, but its application to large-scale, multi-agent outdoor environments remains unexplored. Multi-agent Gaussian SLAM is a promising approach to rapid exploration and reconstruction of environments, offering scalable environment representations, but existing approaches are limited to small-scale, indoor environments. To that end, we propose Gaussian Reconstruction via Multi-Agent Dense SLAM, or GRAND-SLAM, a collaborative Gaussian splatting SLAM method that integrates i) an implicit tracking module based on local optimization over submaps and ii) an approach to inter- and intra-robot loop closure integrated into a pose-graph optimization framework. Experiments show that GRAND-SLAM provides state-of-the-art tracking performance and 28% higher PSNR than existing methods on the Replica indoor dataset, as well as 91% lower multi-agent tracking error and improved rendering over existing multi-agent methods on the large-scale, outdoor Kimera-Multi dataset.

cs.RO↗

arXiv2015

Improving the LSST dithering pattern and cadence for dark energy studies

The Large Synoptic Survey Telescope (LSST) will explore the entire southern sky over 10 years starting in 2022 with unprecedented depth and time sampling in six filters, $ugrizy$. Artificial power on the scale of the 3.5 deg LSST field-of-view will contaminate measurements of baryonic acoustic oscillations (BAO), which fall at the same angular scale at redshift $z \sim 1$. Using the HEALPix framework, we demonstrate the impact of an "un-dithered" survey, in which $17\%$ of each LSST field-of-view is overlapped by neighboring observations, generating a honeycomb pattern of strongly varying survey depth and significant artificial power on BAO angular scales. We find that adopting large dithers (i.e., telescope pointing offsets) of amplitude close to the LSST field-of-view radius reduces artificial structure in the galaxy distribution by a factor of $\sim$10. We propose an observing strategy utilizing large dithers within the main survey and minimal dithers for the LSST Deep Drilling Fields. We show that applying various magnitude cutoffs can further increase survey uniformity. We find that a magnitude cut of $r < 27.3$ removes significant spurious power from the angular power spectrum with a minimal reduction in the total number of observed galaxies over the ten-year LSST run. We also determine the effectiveness of the observing strategy for Type Ia SNe and predict that the main survey will contribute $\sim$100,000 Type Ia SNe. We propose a concentrated survey where LSST observes one-third of its main survey area each year, increasing the number of main survey Type Ia SNe by a factor of $\sim$1.5, while still enabling the successful pursuit of other science drivers.

astro-ph.IM↗