Convex Geometric Motion Planning on Lie Groups via Moment Relaxation

Convex Geometric Motion Planning on Lie Groups via Moment Relaxation

23 May 2023

Papers citing "Convex Geometric Motion Planning on Lie Groups via Moment Relaxation"

11 / 11 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 27 0 0 05 May 2025
A New Semidefinite Relaxation for Linear and Piecewise-Affine Optimal Control with Time Scaling Lujie Yang Tobia Marcucci P. Parrilo Russ Tedrake 33 3 0 17 Apr 2025
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding Hang Liu Sangli Teng Ben Liu Wei Zhang Maani Ghaffari 72 2 0 03 Mar 2025
Fast and Certifiable Trajectory Optimization Shucheng Kang Xiaoyang Xu Jay Sarva Ling Liang Heng Yang 30 8 0 09 Jun 2024
Scalable Distance-based Multi-Agent Relative State Estimation via Block Multiconvex Optimization Tianyue Wu Gongye Zaitian Qianhao Wang Fei Gao 37 4 0 31 May 2024
GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise Sangli Teng Harry Zhang David Jin A. Jasour Maani Ghaffari Luca Carlone 24 10 0 07 Mar 2024
Towards Tight Convex Relaxations for Contact-Rich Manipulation B. P. Graesdal S. Y. C. Chia Tobia Marcucci Savva Morozov Alexandre Amice P. Parrilo Russ Tedrake 40 21 0 15 Feb 2024
Design and Evaluation of Motion Planners for Quadrotors in Environments with Varying Complexities Yifei Shao Yuwei Wu Laura Jarin-Lipschitz Pratik Chaudhari Vijay R. Kumar 19 4 0 24 Sep 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 16 13 0 29 Sep 2022
Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions A. Thirugnanam Jun Zeng K. Sreenath 77 62 0 25 Sep 2021
Moment-Based Exact Uncertainty Propagation Through Nonlinear Stochastic Autonomous Systems A. Jasour Allen Wang B. Williams 21 19 0 29 Jan 2021