Jake Welde

17 papers A* 4Journal 12Unranked 1
YearRankTypeTitle / Venue / Authors
2025 — conf
Learning Flatness-Preserving Residuals for Pure-Feedback Systems.
CDC
Fengjun Yang, Jake Welde, Nikolai Matni
2025 J jnl
Learning Flatness-Preserving Residuals for Pure-Feedback Systems.
CoRR
Fengjun Yang, Jake Welde, Nikolai Matni
2025 J jnl
Leveling the Playing Field: Carefully Comparing Classical and Learned Controllers for Quadrotor Trajectory Tracking.
CoRR
Pratik Kunapuli, Jake Welde, Dinesh Jayaraman, Vijay Kumar
2025 A* conf
Leveraging Symmetry to Accelerate Learning of Trajectory Tracking Controllers for Free-Flying Robotic Systems.
ICRA
Jake Welde, Nishanth Rao, Pratik Kunapuli, Dinesh Jayaraman, Vijay Kumar
2025 J jnl
Scalable Distributed Nonlinear Control Under Flatness-Preserving Coupling.
CoRR
Fengjun Yang, Jake Welde, Nikolai Matni
2024 J jnl
Almost Global Asymptotic Trajectory Tracking for Fully-Actuated Mechanical Systems on Homogeneous Riemannian Manifolds.
CoRR
Jake Welde, Vijay Kumar
2024 J jnl
Almost Global Asymptotic Trajectory Tracking for Fully-Actuated Mechanical Systems on Homogeneous Riemannian Manifolds.
IEEE Control. Syst. Lett.
Jake Welde, Vijay Kumar
2024 J jnl
Leveraging Symmetry to Accelerate Learning of Trajectory Tracking Controllers for Free-Flying Robotic Systems.
CoRR
Jake Welde, Nishanth Rao, Pratik Kunapuli, Dinesh Jayaraman, Vijay Kumar
2023 J jnl
A Compositional Approach to Certifying Almost Global Asymptotic Stability of Cascade Systems.
IEEE Control. Syst. Lett.
Jake Welde, Matthew D. Kvalheim, Vijay Kumar
2023 J jnl
A Compositional Approach to Certifying the Almost Global Asymptotic Stability of Cascade Systems.
CoRR
Jake Welde, Matthew D. Kvalheim, Vijay Kumar
2023 A* conf
The Role of Symmetry in Constructing Geometric Flat Outputs for Free-Flying Robotic Systems.
ICRA
Jake Welde, Matthew D. Kvalheim, Vijay Kumar
2023 J jnl
Towards Automatic Identification of Globally Valid Geometric Flat Outputs via Numerical Optimization.
CoRR
Jake Welde, Vijay Kumar
2023 A* conf
Trajectory Planning for the Bidirectional Quadrotor as a Differentially Flat Hybrid System.
ICRA
Katherine Mao, Jake Welde, M. Ani Hsieh, Vijay Kumar
2022 J jnl
The Role of Symmetry in Constructing Geometric Flat Outputs for Free-Flying Robotic Systems.
CoRR
Jake Welde, Matthew D. Kvalheim, Vijay Kumar
2021 J jnl
Dynamically Feasible Task Space Planning for Underactuated Aerial Manipulators.
IEEE Robotics Autom. Lett.
Jake Welde, James Paulos, Vijay Kumar
2020 A* conf
Coordinate-Free Dynamics and Differential Flatness of a Class of 6DOF Aerial Manipulators.
ICRA
Jake Welde, Vijay Kumar
2017 J jnl
Autonomous Flight for Detection, Localization, and Tracking of Moving Targets With a Small Quadrotor.
IEEE Robotics Autom. Lett.
Justin Thomas, Jake Welde, Giuseppe Loianno, Kostas Daniilidis, Vijay Kumar