Sangli Teng

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

Jeffrey M. Walls, S. Koehler, Tzu-Yuan Lin, 2022, ArXiv.

Progress in symmetry preserving robot perception and control through geometry and learning

Jingwei Song, Ray Zhang, Tzu-Yuan Lin, 2022, Frontiers in Robotics and AI.

Co-estimation of lithium-ion battery state of charge and state of temperature based on a hybrid electrochemical-thermal-neural-network model

Fei Feng, Kailong Liu, Yi Xie, 2020 .

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

Di Chen, William Clark, Maani Ghaffari, 2022, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Toward Safety-Aware Informative Motion Planning for Legged Robots pdf

Jessy W. Grizzle, Maani Ghaffari, Yukai Gong, 2021, ArXiv.

Lie Algebraic Cost Function Design for Control on Lie Groups

A. Bloch, R. Vasudevan, W. Clark, 2022, 2022 IEEE 61st Conference on Decision and Control (CDC).

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

Koushil Sreenath, Sangli Teng, Mark Wilfried Mueller, 2021, 2021 IEEE International Conference on Robotics and Automation (ICRA).

Convex Geometric Motion Planning on Lie Groups via Moment Relaxation

Maani Ghaffari, A. Jasour, Sangli Teng, 2023, Robotics: Science and Systems.

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

Maani Ghaffari, Sangli Teng, Junwoo Jang, 2023, arXiv.org.

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

Jeffrey M. Walls, S. Koehler, Tzu-Yuan Lin, 2022, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise

Maani Ghaffari, A. Jasour, Sangli Teng, 2024, ArXiv.