22 citations · 34 across the 23 of their papers we have counts for
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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…
cs.RO2023★ 9 cited
Convex Geometric Trajectory Tracking using Lie Algebraic MPC for Autonomous Marine Vehicles
Junwoo Jang, Sangli Teng, Maani Ghaffari
Controlling marine vehicles in challenging environments is a complex task due to the presence of nonlinear hydrodynamics and uncertain external disturbances. Despite nonlinear mode…