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

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

16 March 2022

Papers citing "An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control"

13 / 13 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 42 0 0 05 May 2025
Geometric Gait Optimization for Kinodynamic Systems Using a Lie Group Integrator Yanhao Yang Ross L. Hatton AI4CE 31 0 0 27 Apr 2025
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding Hang Liu Sangli Teng Ben Liu Wei Zhang Maani Ghaffari 74 3 0 03 Mar 2025
GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise Sangli Teng Harry Zhang David Jin A. Jasour Maani Ghaffari Luca Carlone 54 10 0 07 Mar 2024
Can Euclidean Symmetry be Leveraged in Reinforcement Learning and Planning? Linfeng Zhao Owen Howell Jung Yeon Park Xu Zhu Robin 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 45 13 0 23 May 2023
Convex Geometric Trajectory Tracking using Lie Algebraic MPC for Autonomous Marine Vehicles Junwoo Jang Sangli Teng Maani Ghaffari 35 5 0 15 May 2023
Moment-based Kalman Filter: Nonlinear Kalman Filtering with Exact Moment Propagation Y. Shimizu A. Jasour Maani Ghaffari Shinpei Kato 16 2 0 22 Jan 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 34 13 0 29 Sep 2022
Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors Noel Csomay-Shanklin Victor D. Dorobantu Aaron D. Ames 31 12 0 23 Sep 2022
SoLo T-DIRL: Socially-Aware Dynamic Local Planner based on Trajectory-Ranked Deep Inverse Reinforcement Learning Yifan Xu Theodor Chakhachiro Tribhi Kathuria Maani Ghaffari 34 2 0 16 Sep 2022
Exploiting Different Symmetries for Trajectory Tracking Control with Application to Quadrotors M. Hampsey Pieter van Goor T. Hamel Robert E. Mahony 27 6 0 11 Jul 2022
Energy-based Legged Robots Terrain Traversability Modeling via Deep Inverse Reinforcement Learning Lu Gan J. Grizzle Ryan Eustice Maani Ghaffari 32 27 0 07 Jul 2022