22 citations · 23 across the 4 of their papers we have counts for
4 papers
Lie Algebraic Cost Function Design for Control on Lie Groups
Sangli Teng, William Clark, Anthony Bloch +2
This paper presents a control framework on Lie groups by designing the control objective in its Lie algebra. Control on Lie groups is challenging due to its nonlinear nature and di…
Input Influence Matrix Design for MIMO Discrete-Time Ultra-Local Model
Sangli Teng, Amit K. Sanyal, Ram Vasudevan +2
Ultra-Local Models (ULM) have been applied to perform model-free control of nonlinear systems with unknown or partially known dynamics. Unfortunately, extending these methods to MI…
Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update
Sangli Teng, Mark Wilfried Mueller, Koushil Sreenath
This paper proposes a state estimator for legged robots operating in slippery environments. An Invariant Extended Kalman Filter (InEKF) is implemented to fuse inertial and velocity…
Toward Safety-Aware Informative Motion Planning for Legged Robots
Sangli Teng, Yukai Gong, Jessy W. Grizzle +1
This paper reports on developing an integrated framework for safety-aware informative motion planning suitable for legged robots. The information-gathering planner takes a dense st…