Lie Algebraic Cost Function Design for Control on Lie Groups

Lie Algebraic Cost Function Design for Control on Lie Groups

20 April 2022

Anthony N. Bloch

Papers citing "Lie Algebraic Cost Function Design for Control on Lie Groups"

10 / 10 papers shown

Title
Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups Sangli Teng Tzu-Yuan Lin William Clark Ram Vasudevan Maani Ghaffari AI4CE 39 0 0 05 May 2025
SE(3)-Equivariant Robot Learning and Control: A Tutorial Survey Joohwan Seo Soochul Yoo Junwoo Chang Hyunseok An Hyunwoo Ryu Soomi Lee Arvind Kruthiventy Jongeun Choi R. Horowitz 71 2 0 12 Mar 2025
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding Hang Liu Sangli Teng Ben Liu Wei Zhang Maani Ghaffari 72 3 0 03 Mar 2025
Lie Neurons: Adjoint-Equivariant Neural Networks for Semisimple Lie Algebras Tzu-Yuan Lin Minghan Zhu Maani Ghaffari 40 1 0 06 Oct 2023
Can Euclidean Symmetry be Leveraged in Reinforcement Learning and Planning? Linfeng Zhao Owen Howell Jung Yeon Park Xu Zhu Robin G. Walters Lawson L. S. Wong 36 1 0 17 Jul 2023
Convex Geometric Motion Planning on Lie Groups via Moment Relaxation Sangli Teng A. Jasour Ram Vasudevan Maani Ghaffari 37 13 0 23 May 2023
Convex Geometric Trajectory Tracking using Lie Algebraic MPC for Autonomous Marine Vehicles Junwoo Jang Sangli Teng Maani Ghaffari 28 5 0 15 May 2023
Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer Xihang Yu Sangli Teng Theodor Chakhachiro W. Tong Ting-Ting Li Tzu-Yuan Lin S. Koehler Manuel Ahumada Jeffrey M. Walls Maani Ghaffari 26 13 0 29 Sep 2022
An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control Sangli Teng Di Chen William Clark Maani Ghaffari 22 28 0 16 Mar 2022
Globally-Attractive Logarithmic Geometric Control of a Quadrotor for Aggressive Trajectory Tracking Jacob Johnson Randal Beard 11 7 0 15 Sep 2021