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Sangli Teng

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Convex Geometric Motion Planning on Lie Groups via Moment Relaxation

May 23, 2023
Sangli Teng, Ashkan Jasour, Ram Vasudevan, Maani Ghaffari

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Convex Geometric Trajectory Tracking using Lie Algebraic MPC for Autonomous Marine Vehicles

May 15, 2023
Junwoo Jang, Sangli Teng, Maani Ghaffari

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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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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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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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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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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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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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