Distributed Certifiably Correct Range-Aided SLAM (DCORA)

Building

Install dependencies

sudo apt-get install build-essential cmake-gui libsuitesparse-dev libboost-all-dev libeigen3-dev libgoogle-glog-dev

Inside the C++ directory, execute the following commands

mkdir build
cd build
cmake ../
make

Usage

The built executables are located in directory build/bin. For a minimal demo of DC2-PGO on one of the benchmark g2o datasets, inside the build directory run:

./bin/multi-robot-example 5 ../data/smallGrid3D.g2o

For a minimal demo of CORA on one of the benchmark pyfg datasets, inside the build directory run:

./bin/single-robot-example-ra-slam ../data/tiers.pyfg

Contributing

Any contributions should pass all checks in our .pre-commit-config.yaml file. To install the pre-commit hooks, run pre-commit install in the root directory of this repository. You may need to install some dependencies to get the pre-commit hooks to work.

pip install pre-commit
sudo apt-get install cppcheck
cd /path/to/dcora
pre-commit install

Testing

Run the unit tests via

./bin/testDCORA

References

If you use this code in your research, please cite the following paper:

@inproceedings{thoms2025distributed,
  booktitle = {2025 IEEE International Conference on Robotics and Automation (ICRA)},
  isbn = {9798331541392},
  keywords = {Distributed algorithms ;  Noise},
  language = {eng},
  pages = {6190-6197},
  publisher = {IEEE},
  title = {Distributed Certifiably Correct Range-Aided SLAM},
  year = {2025},
  author = {Thoms, Alexander and Papalia, Alan and Velasquez, Jared and Rosen, David M. and Narasimhan, Sriram},
}