22 citations · 34 across the 23 of their papers we have counts for
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cs.RO2021
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…
cs.RO2021★ 22 cited
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…