Autonomous Flight for Detection, Localization, and Tracking of Moving Targets With a Small Quadrotor. - Justin Thomas; Jake Welde; Giuseppe Loianno; Kostas Daniilidis; Vijay Kumar 001 (IEEE Robotics Autom. Lett., 2017)

Coordinate-Free Dynamics and Differential Flatness of a Class of 6DOF Aerial Manipulators. - Jake Welde; Vijay Kumar 001 (ICRA, 2020)

Dynamically Feasible Task Space Planning for Underactuated Aerial Manipulators. - Jake Welde; James Paulos; Vijay Kumar 001 (IEEE Robotics Autom. Lett., 2021)

Trajectory Planning for the Bidirectional Quadrotor as a Differentially Flat Hybrid System. - Katherine Mao; Jake Welde; M. Ani Hsieh; Vijay Kumar 001 (ICRA, 2023)

The Role of Symmetry in Constructing Geometric Flat Outputs for Free-Flying Robotic Systems. - Jake Welde; Matthew D. Kvalheim; Vijay Kumar 001 (ICRA, 2023)

Towards Automatic Identification of Globally Valid Geometric Flat Outputs via Numerical Optimization. - Jake Welde; Vijay Kumar 001 (CoRR, 2023)

A Compositional Approach to Certifying Almost Global Asymptotic Stability of Cascade Systems. - Jake Welde; Matthew D. Kvalheim; Vijay Kumar 001 (IEEE Control. Syst. Lett., 2023)

Leveraging Symmetry to Accelerate Learning of Trajectory Tracking Controllers for Free-Flying Robotic Systems. - Jake Welde; Nishanth Rao; Pratik Kunapuli; Dinesh Jayaraman; Vijay Kumar 001 (CoRR, 2024)

Almost Global Asymptotic Trajectory Tracking for Fully-Actuated Mechanical Systems on Homogeneous Riemannian Manifolds. - Jake Welde; Vijay Kumar 001 (IEEE Control. Syst. Lett., 2024)

Learning Flatness-Preserving Residuals for Pure-Feedback Systems. - Fengjun Yang; Jake Welde; Nikolai Matni (CoRR, 2025)

Leveling the Playing Field: Carefully Comparing Classical and Learned Controllers for Quadrotor Trajectory Tracking. - Pratik Kunapuli; Jake Welde; Dinesh Jayaraman; Vijay Kumar 001 (CoRR, 2025)