Guaranteed Globally Optimal Planar Pose Graph and Landmark SLAM via Sparse-Bounded Sums-of-Squares Programming - Mangelson, Joshua G.; Liu, Jinsun; Eustice, Ryan M.; Vasudevan, Ram (2019 International Conference on Robotics and Automation (ICRA), Robotics and Automation (ICRA), 2019 International Conference on, 2019)