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Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer


Sep 29, 2022
Xihang Yu, Sangli Teng, Theodor Chakhachiro, Wenzhe Tong, Tingjun Li, Tzu-Yuan Lin, Sarah Koehler, Manuel Ahumada, Jeffrey M. Walls, Maani Ghaffari

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* github repository at https://github.com/UMich-CURLY/slip_detection_DOB. arXiv admin note: text overlap with arXiv:1805.10410 by other authors 

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Lie Algebraic Cost Function Design for Control on Lie Groups


Apr 20, 2022
Sangli Teng, William Clark, Anthony Bloch, Ram Vasudevan, Maani Ghaffari

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* 8 pages 

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Input Influence Matrix Design for MIMO Discrete-Time Ultra-Local Model


Mar 16, 2022
Sangli Teng, Amit K. Sanyal, Ram Vasudevan, Anthony Bloch, Maani Ghaffari

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* Accepted to 2022 American Control Conference (ACC) 

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An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control


Mar 16, 2022
Sangli Teng, Dianhao Chen, William Clark, Maani Ghaffari

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* Submitted to the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022) 

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Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update


Apr 09, 2021
Sangli Teng, Mark Wilfried Mueller, Koushil Sreenath

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* To appear on the 2021 International Conference on Robotics and Automation (ICRA 2021) 

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Toward Safety-Aware Informative Motion Planning for Legged Robots


Mar 26, 2021
Sangli Teng, Yukai Gong, Jessy W. Grizzle, Maani Ghaffari

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* 11 pages 

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