@article{incrementalabstractionindistributed,
  title = {Incremental Abstraction in Distributed Probabilistic SLAM Graphs},
  author = {Joseph Ortiz and Talfan Evans and Edgar Sucar and Andrew J. Davison},
  year = {2021},
  eprint = {2109.06241},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2109.06241v2},
}