Karthik Soma — accepted AI-conference papers

2026

Multi-Robot Decentralized Collaborative SLAM in Planetary Analogue Environments: Dataset, Challenges, and Lessons Learned (I)

Pierre-Yves Lajoie, Karthik Soma, Haechan Mark Bong, Alice Lemieux-Bourque, Rongge Zhang, Vivek shankar Varadharajan +1

ICRA 2026poster

Decentralized collaborative simultaneous localization and mapping (C-SLAM) is essential to enable multirobot missions in unknown environments without relying on preexisting localization and communication infrastructure. This technology is anticipated to play a key role in the exploration of the Moon…

Cited by 0 Scholar ↗

2023

A Complete Set of Connectivity-aware Local Topology Manipulation Operations for Robot Swarms

Karthik Soma, Koresh Khateri, Mahdi Pourgholi, Mohsen Montazeri, Lorenzo Sabattini, Giovanni Beltrame

ICRA 2023poster

The topology of a robotic swarm affects the convergence speed of consensus and the mobility of the robots. In this paper, we prove the existence of a complete set of local topology manipulation operations that allow the transformation of a swarm topology. The set is complete in the sense that any ot…

Cited by 3 Source ↗Scholar ↗