Sangli Teng

According to our database, Sangli Teng authored at least 12 papers between 2021 and 2024.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of four.

2024

A Generalized Metriplectic System via Free Energy and System~Identification via Bilevel Convex Optimization.

Sangli Teng, Kaito Iwasaki, William Clark, Xihang Yu, Anthony M. Bloch, Ram Vasudevan, Maani Ghaffari

CoRR, 2024

Legged Robot State Estimation within Non-inertial Environments.

Zijian He, Sangli Teng, Tzu-Yuan Lin, Maani Ghaffari, Yan Gu

CoRR, 2024

GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise.

Sangli Teng, Harry Zhang, David Jin, Ashkan Jasour, Maani Ghaffari, Luca Carlone

CoRR, 2024

2023

Convex Geometric Trajectory Tracking Using Lie Algebraic MPC for Autonomous Marine Vehicles.

Junwoo Jang, Sangli Teng, Maani Ghaffari

IEEE Robotics Autom. Lett., December, 2023

Convex Geometric Motion Planning on Lie Groups via Moment Relaxation.

Sangli Teng, Ashkan Jasour, Ram Vasudevan, Maani Ghaffari Jadidi

Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023

Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer.

Xihang Yu, Sangli Teng, Theodor Chakhachiro, Wenzhe Tong, Tingjun Li, Tzu-Yuan Lin, Sarah Koehler, Manuel Ahumada, Jeffrey M. Walls, Maani Ghaffari

IROS, 2023

2022

Progress in symmetry preserving robot perception and control through geometry and learning.

Maani Ghaffari, Ray Zhang, Minghan Zhu, Chien Erh Lin, Tzu-Yuan Lin, Sangli Teng, Tingjun Li, Tianyi Liu, Jingwei Song

Frontiers Robotics AI, 2022

An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control.

Sangli Teng, Dianhao Chen, William A. Clark, Maani Ghaffari

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Lie Algebraic Cost Function Design for Control on Lie Groups.

Sangli Teng, William A. Clark, Anthony M. Bloch, Ram Vasudevan, Maani Ghaffari

Proceedings of the 61st IEEE Conference on Decision and Control, 2022

Input Influence Matrix Design for MIMO Discrete-Time Ultra-Local Model.

Sangli Teng, Amit K. Sanyal, Ram Vasudevan, Anthony M. Bloch, Maani Ghaffari

Proceedings of the American Control Conference, 2022

2021

Toward Safety-Aware Informative Motion Planning for Legged Robots.

Sangli Teng, Yukai Gong, Jessy W. Grizzle, Maani Ghaffari

CoRR, 2021

Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update.

Sangli Teng, Mark Wilfried Mueller, Koushil Sreenath

Proceedings of the IEEE International Conference on Robotics and Automation, 2021