2 citations · 2 across the 3 of their papers we have counts for
3 papers
cs.RO2024
Legged Robot State Estimation within Non-inertial Environments
Zijian He, Sangli Teng, Tzu-Yuan Lin +2
This paper investigates the robot state estimation problem within a non-inertial environment. The proposed state estimation approach relaxes the common assumption of static ground…
cs.RO2024★ 2 cited
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…
cs.RO2023
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…