Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Resource-Aware Algorithms for Distributed Loop Closure Detection with
  Provable Performance Guarantees   Inter-robot loop closure detection, e.g., for collaborative simultaneous
localization and mapping (CSLAM), is a fundamental capability for many
multirobot applications in GPS-denied regimes. In real-world scenarios, this is
a resource-intensive process that involves exchanging observations and
verifying potential matches. This poses severe challenges especially for
small-size and low-cost robots with various operational and resource
constraints that limit, e.g., energy consumption, communication bandwidth, and
computation capacity. This paper presents resource-aware algorithms for
distributed inter-robot loop closure detection. In particular, we seek to
select a subset of potential inter-robot loop closures that maximizes a
monotone submodular performance metric without exceeding computation and
communication budgets. We demonstrate that this problem is in general NP-hard,
and present efficient approximation algorithms with provable performance
guarantees. A convex relaxation scheme is used to certify near-optimal
performance of the proposed framework in real and synthetic SLAM benchmarks.

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The categories of this paper are: gr-qc
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The categories of this paper are: math-ph
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The categories of this paper are: astro-ph
11
The categories of this paper are: hep-lat
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The categories of this paper are: eess
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The categories of this paper are: q-fin
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The categories of this paper are: math
18
The categories of this paper are: econ
20
The categories of this paper are: acc-phys
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The categories of this paper are: atom-ph
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The categories of this paper are: alg-geom
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The categories of this paper are: adap-org
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The categories of this paper are: nucl-ex
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The categories of this paper are: hep-th
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The categories of this paper are: supr-con
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The categories of this paper are: hep-ex