Talk: IEEE CDC 2023 — Distributed Computation of Geometric Quantities

I presented this work at the 62nd IEEE Conference on Decision and Control (CDC 2023) in Singapore.

What problem was this about?

Distributed systems often need global geometric quantities (such as manifold averages) while only having local communication.

What was the main contribution?

We developed distributed methods to compute geometric quantities with provable behavior, combining Riemannian geometry with consensus-style updates.

Why it matters

These tools are useful for decentralized estimation and coordination in multi-agent systems with nonlinear state spaces.

• 📊 Presentation
• 📄 Paper