Sangli Teng Ashkan Jasour Ram Vasudevan Maani Ghaffari Jadidi Convex Geometric Motion Planning on Lie Groups via Moment Relaxation. 2023 Robotics: Science and Systems https://doi.org/10.15607/RSS.2023.XIX.058 conf/rss/2023 db/conf/rss/rss2023.html#TengJVJ23