Jake Welde

Jake Welde

PhD candidate in robotics working at the intersection of geometry, dynamics, and design.

Publications

An up-to-date list of publications can also be found on my Google Scholar page. ( * indicates equal contribution.)

Preprint

  1. "Leveraging Symmetry to Accelerate Learning of Trajectory Tracking Controllers for Free-Flying Robotic Systems",
    Jake Welde*, Nishanth Rao*, Pratik Kunapuli*, Dinesh Jayaraman, and Vijay Kumar.
    arXiv preprint, 2024.

Journal

  1. "Almost Global Asymptotic Trajectory Tracking for Fully-Actuated Mechanical Systems on Homogeneous Riemannian Manifolds",
    Jake Welde and Vijay Kumar.
    IEEE Control Systems Letters (L-CSS), 2024.
  2. "A Compositional Approach to Certifying Almost Global Asymptotic Stability of Cascade Systems",
    Jake Welde, Matthew D. Kvalheim, and Vijay Kumar.
    IEEE Control Systems Letters (L-CSS), 2023.
  3. "Dynamically Feasible Task Space Planning for Underactuated Aerial Manipulators",
    Jake Welde, James Paulos, and Vijay Kumar.
    IEEE Robotics and Automation Letters (RA-L), 2021.
    Finalist for "Best Paper in Unmanned Aerial Vehicles" at ICRA 2021.
  4. "Autonomous Flight for Detection, Localization, and Tracking of Moving Targets With a Small Quadrotor",
    Justin Thomas, Jake Welde, Giuseppe Loianno, Kostas Daniilidis, and Vijay Kumar.
    IEEE Robotics and Automation Letters (RA-L), 2017.

Conference

  1. "The Role of Symmetry in Constructing Geometric Flat Outputs for Free-Flying Robotic Systems",
    Jake Welde, Matthew D. Kvalheim, and Vijay Kumar.
    IEEE International Conference on Robotics and Automation (ICRA), 2023.
  2. "Trajectory Planning for the Bidirectional Quadrotor as a Differentially Flat Hybrid System",
    Katherine Mao, Jake Welde, M. Ani Hsieh, and Vijay Kumar.
    IEEE International Conference on Robotics and Automation (ICRA), 2023.
  3. "Coordinate-Free Dynamics and Differential Flatness of a Class of 6DOF Aerial Manipulators",
    Jake Welde and Vijay Kumar.
    IEEE International Conference on Robotics and Automation (ICRA), 2020.

Workshop (non-archival)

  1. "Geometric Methods of Systematic Controller Synthesis for Underactuated Robotic Systems",
    Jake Welde.
    RSS Pioneers, Robotics: Science and Systems (RSS), 2024.
  2. "Towards Automatic Identification of Globally Valid Geometric Flat Outputs via Numerical Optimization",
    Jake Welde and Vijay Kumar.
    Geometric Representations Workshop, International Conference on Robotics and Automation (ICRA), 2023.