10 citations · 32 across the 23 of their papers we have counts for
26 papers
Max Entropy Moment Kalman Filter for Polynomial Systems with Arbitrary Noise
Sangli Teng, Harry Zhang, David Jin +4
Designing optimal Bayes filters for nonlinear non-Gaussian systems is a challenging task. The main difficulties are: 1) representing complex beliefs, 2) handling non-Gaussian noise…
Risk-aware Integrated Task and Motion Planning for Versatile Snake Robots under Localization Failures
Ashkan Jasour, Guglielmo Daddi, Masafumi Endo +7
Snake robots enable mobility through extreme terrains and confined environments in terrestrial and space applications. However, robust perception and localization for snake robots…
GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise
Sangli Teng, Harry Zhang, David Jin +3
This paper develops a new filtering approach for state estimation in polynomial systems corrupted by arbitrary noise, which commonly arise in robotics. We first consider a batch se…
Convex Risk Bounded Continuous-Time Trajectory Planning and Tube Design in Uncertain Nonconvex Environments
Ashkan Jasour, Weiqiao Han, Brian Williams
In this paper, we address the trajectory planning problem in uncertain nonconvex static and dynamic environments that contain obstacles with probabilistic location, size, and geome…
Convex Geometric Motion Planning on Lie Groups via Moment Relaxation
Sangli Teng, Ashkan Jasour, Ram Vasudevan +1
This paper reports a novel result: with proper robot models on matrix Lie groups, one can formulate the kinodynamic motion planning problem for rigid body systems as \emph{exact} p…
Peak Value-at-Risk Estimation of Stochastic Processes using Occupation Measures
Jared Miller, Matteo Tacchi, Mario Sznaier +1
This paper formulates algorithms to upper-bound the maximum Value-at-Risk (VaR) of a state function along trajectories of stochastic processes. The VaR is upper bounded by two meth…