2 papers
cs.RO2025
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…
cs.RO2025
Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups
Sangli Teng, Tzu-Yuan Lin, William A Clark +2
Designing dynamically feasible trajectories for rigid bodies is a fundamental problem in robotics. Although direct trajectory optimization is widely applied to solve this problem,…