I2C pull-up resistance

I need to connect a handful of lidars (3) to the I2C bus of my BBBlue.

My question is whether or not the BBBlue has internal pull-up resistors, and if it does, is it necessary (and possible) to set their resistance?

You can find the BeagleBone Blue schematic at https://github.com/beagleboard/beaglebone-blue/blob/master/BeagleBone_Blue_sch.pdf