Research

My research focuses on advancing optimization techniques for robotic state estimation and navigation, particularly in SLAM back-ends. I am currently working on certifiable algorithms, robust certifiable methods, and distributed optimization. I am interested in both foundational algorithmic problems and the development of novel applications enabled by these techniques. My ongoing work focuses on:

Certifiable Estimation

• Scalable factor graph–based certifiable estimation
• Robust algorithms for certifiable estimation

Distributed Optimization

• Distributed certifiable algorithm

Long-term Autonomy

• Large scale factor graph optimization