OASIS : Optimal Arrangements for Sensing in SLAM

##Reference kindly cite our paper if you find this library useful:

• Kaveti, P., Giamou, M., Singh, H., & Rosen, D. M. (2023). OASIS: Optimal Arrangements for Sensing in SLAM.. IEEE Intl. Conf. on Robotics and Automation (ICRA), 2024

@article{kaveti2023oasis,
 title={OASIS: Optimal Arrangements for Sensing in SLAM},
 author={Kaveti, Pushyami and Giamou, Matthew and Singh, Hanumant and Rosen, David M},
 journal={arXiv preprint arXiv:2309.10698},
 year={2023}
}

##Dependencies Tested on ubuntu 20.04 LTS with Python3. You will need the following libraries.

• numpy
• scipy
• gtsam (https://github.com/borglab/gtsam)
• matplotlib

Current version of the code support only simulated experiments. We are working on real dataset evaluation - stay tuned!

Run Simulation Examples

• Use --help option to list all options to run the code.
• To run optimization for average performance across multiple simulations

python3 main_expectation.py

• To run optimization for single simulation

python3 main.py