Multi-Spurdog Tests

This repository contains test scripts and documentation for the multi-spurdog experiments.

Structure

• Root directory: Documentation files (markdown) describing optimization studies, noise model tuning, and algorithm comparisons
• tests/: Test scripts and utilities for running GTSAM and CORA optimizers

Documentation Files

• GTSAM_VS_CORA_COMPARISON.md - Comprehensive comparison study
• NOISE_MODEL_TUNING_FINDINGS.md - Parameter sweep results
• CORA_BATCH_IMPLEMENTATION.md - Batch processing implementation
• OFFLINE_OPTIMIZER_WALKTHROUGH.md - Detailed optimizer guide
• OPTIMIZER_COMPARISON.md - Initial comparison findings
• SENSOR_NOISE_VERIFICATION.md - Validation of noise parameters
• SUMMARY_GTSAM_FIX.md - Bug fix documentation

Test Scripts

See tests/README.md for detailed information about running the optimizers and test scripts.

Organization

This repository is part of the Marine Robotics Group at MIT.