Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update. - Sangli Teng; Mark Wilfried Mueller; Koushil Sreenath (ICRA, 2021)

Toward Safety-Aware Informative Motion Planning for Legged Robots. - Sangli Teng; Yukai Gong; Jessy W. Grizzle; Maani Ghaffari (CoRR, 2021)

Input Influence Matrix Design for MIMO Discrete-Time Ultra-Local Model. - Sangli Teng; Amit K. Sanyal; Ram Vasudevan; Anthony M. Bloch; Maani Ghaffari (ACC, 2022)

Lie Algebraic Cost Function Design for Control on Lie Groups. - Sangli Teng; William A. Clark; Anthony M. Bloch; Ram Vasudevan; Maani Ghaffari (CDC, 2022)

An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control. - Sangli Teng; Dianhao Chen; William A. Clark; Maani Ghaffari (IROS, 2022)

Progress in symmetry preserving robot perception and control through geometry and learning. - Maani Ghaffari; Ray Zhang 001; Minghan Zhu; Chien Erh Lin; Tzu-Yuan Lin; Sangli Teng; Tingjun Li; Tianyi Liu; Jingwei Song (Frontiers Robotics AI, 2022)

Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer. - Xihang Yu; Sangli Teng; Theodor Chakhachiro; Wenzhe Tong; Tingjun Li; Tzu-Yuan Lin; Sarah Koehler; Manuel Ahumada; Jeffrey M. Walls; Maani Ghaffari (IROS, 2023)

Convex Geometric Motion Planning on Lie Groups via Moment Relaxation. - Sangli Teng; Ashkan Jasour; Ram Vasudevan; Maani Ghaffari Jadidi (Robotics: Science and Systems, 2023)

Convex Geometric Trajectory Tracking Using Lie Algebraic MPC for Autonomous Marine Vehicles. - Junwoo Jang; Sangli Teng; Maani Ghaffari (IEEE Robotics Autom. Lett., 2023)

Legged Robot State Estimation within Non-inertial Environments. - Zijian He; Sangli Teng; Tzu-Yuan Lin; Maani Ghaffari; Yan Gu (CDC, 2024)

GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise. - Sangli Teng; Harry Zhang; David Jin; Ashkan Jasour; Maani Ghaffari; Luca Carlone (CoRR, 2024)

A Generalized Metriplectic System via Free Energy and System Identification via Bilevel Convex Optimization. - Sangli Teng; Kaito Iwasaki; William Clark; Xihang Yu; Anthony M. Bloch; Ram Vasudevan; Maani Ghaffari (CoRR, 2024)

A Generalized Metriplectic System via Free Energy and System Identification via Bilevel Convex Optimization. - Sangli Teng; Kaito Iwasaki; William A. Clark; Xihang Yu; Anthony M. Bloch; Ram Vasudevan; Maani Ghaffari (ACC, 2025)

Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding. - Hang Liu; Sangli Teng; Ben Liu; Wei Zhang; Maani Ghaffari (CoRR, 2025)

Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups. - Sangli Teng; Tzu-Yuan Lin; William A. Clark; Ram Vasudevan; Maani Ghaffari (CoRR, 2025)

Max Entropy Moment Kalman Filter for Polynomial Systems with Arbitrary Noise. - Sangli Teng; Harry Zhang; David Jin; Ashkan Jasour; Ram Vasudevan; Maani Ghaffari; Luca Carlone (CoRR, 2025)