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05/23/2023
Convex Geometric Motion Planning on Lie Groups via Moment Relaxation
This paper reports a novel result: with proper robot models on matrix Li...
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05/15/2023
Convex Geometric Trajectory Tracking using Lie Algebraic MPC for Autonomous Marine Vehicles
Controlling marine vehicles in challenging environments is a complex tas...
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09/29/2022
Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer
This paper develops a novel slip estimator using the invariant observer ...
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04/20/2022
Lie Algebraic Cost Function Design for Control on Lie Groups
This paper presents a control framework on Lie groups by designing the c...
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03/16/2022
Input Influence Matrix Design for MIMO Discrete-Time Ultra-Local Model
Ultra-Local Models (ULM) have been applied to perform model-free control...
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03/16/2022
An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control
This paper reports on a new error-state Model Predictive Control (MPC) a...
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04/09/2021
Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update
This paper proposes a state estimator for legged robots operating in sli...
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03/26/2021