Title
Max Entropy Moment Kalman Filter for Polynomial Systems with Arbitrary Noise Sangli Teng Harry Zhang David Jin A. Jasour Ram Vasudevan Maani Ghaffari Luca Carlone 183 1 0 01 Jun 2025
Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups Sangli Teng Tzu-Yuan Lin William Clark Ram Vasudevan Maani Ghaffari AI4CE 354 4 0 05 May 2025
Simultaneous Collision Detection and Force Estimation for Dynamic Quadrupedal LocomotionIEEE International Conference on Robotics and Automation (ICRA), 2025 Ziyi Zhou Stefano Di Cairano Yebin Wang K. Berntorp 293 0 0 24 Apr 2025
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding Hang Liu Sangli Teng Ben Liu Wei Zhang Maani Ghaffari 255 9 0 03 Mar 2025
Tensegrity Robot Proprioceptive State Estimation with Geometric ConstraintsIEEE Robotics and Automation Letters (RA-L), 2024 W. Tong Tzu-Yuan Lin Jonathan Mi Yicheng Jiang Maani Ghaffari Xiaonan Huang 269 5 0 31 Oct 2024
TURTLMap: Real-time Localization and Dense Mapping of Low-texture Underwater Environments with a Low-cost Unmanned Underwater VehicleIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024 Jingyu Song Onur Bagoren Razan Andigani A. Sethuraman Katherine A. Skinner 294 14 0 02 Aug 2024
Legged Robot State Estimation within Non-inertial Environments Zijian He Sangli Teng Tzu-Yuan Lin Maani Ghaffari Yan Gu 228 8 0 24 Mar 2024
GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise Sangli Teng Harry Zhang David Jin A. Jasour Maani Ghaffari Luca Carlone 318 14 0 07 Mar 2024
Proprioceptive Invariant Robot State Estimation Tzu-Yuan Lin Ting-Ting Li Wenzhe Tong Maani Ghaffari 288 12 0 07 Nov 2023
Uncertainty-Aware Acoustic Localization and Mapping for Underwater RobotsOceans (OCEANS), 2023 Jingyu Song Onur Bagoren Katherine A. Skinner 187 5 0 17 Jul 2023