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Alexander Thoms

dblp:401/8543 · DBLP profile ↗
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1ranked-venue papers
1as first author
1since 2021 · last 2025
—ORCID · unresolved

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1 · 1 first-author · 1 since 2021Systems, architecture and hardware · 1 · 1 first-author · 1 since 2021

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Robot navigation and mapping · 100%
Theoretical computer science
1 paper
Mathematical optimization · 100%

Topics — the 3 heaviest of 3, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Robot navigation and mapping › SLAM › multi-robot SLAM
distributed SLAM
0.912025
Distributed Certifiably Correct Range-Aided SLAM · ICRA 2025
Robotics › Robot navigation and mapping
SLAM
0.912025
Distributed Certifiably Correct Range-Aided SLAM · ICRA 2025
Mathematical optimization › global optimization
certifiable optimization
0.312025
Distributed Certifiably Correct Range-Aided SLAM · ICRA 2025

Methods — techniques the papers use, named apart from their topics

riemannian staircase · 1.7distributed optimization · 1.7
YearPublicationVenuePosition
2025 Distributed Certifiably Correct Range-Aided SLAM
abstract
Reliable simultaneous localization and mapping (SLAM) algorithms are necessary for safety-critical autonomous navigation. In the communication-constrained multi-agent setting, navigation systems increasingly use point-to-point range sensors as they afford measurements with low bandwidth requirements and known data association. The state estimation problem for these systems takes the form of range-aided (RA) SLAM. However, distributed algorithms for solving the RA-SLAM problem lack formal guarantees on the quality of the returned estimate. To this end, we present the first distributed algorithm for RA-SLAM that can efficiently recover certifiably globally optimal solutions. Our algorithm, distributed certifiably correct RA-SLAM (DCORA), achieves this via the Riemannian Staircase method, where computational procedures developed for distributed certifiably correct pose graph optimization are generalized to the RA-SLAM problem. We demonstrate DCORA's efficacy on real-world multi-agent datasets by achieving absolute trajectory errors comparable to those of a state-of-the-art centralized certifiably correct RA-SLAM algorithm. Additionally, we perform a parametric study on the structure of the RA-SLAM problem using synthetic data, revealing how common parameters affect DCORA's performance.
Alexander Thoms, Alan Papalia, Jared Velasquez, David M. Rosen, Sriram Narasimhan
ICRA1