Jake Welde
Robotics MSE '20 - PhD, MEAM
Jake’s research focuses on planning and control for underactuated multibody aerial robots, such as quadrotors equipped with manipulator arms. He is interested in exploring the fundamental geometric properties of these systems to develop a deeper theoretical understanding, as well as using these insights to inform mechanical design and practical control implementation on real-world robots. Jake also completed his B.S. in Mechanical Engineering and Masters in Robotics here at Penn.
Research Groups
Publications
The Role of Symmetry in Constructing Geometric Flat Outputs for Free-Flying Robotic Systems
Publisher ICRA
Trajectory Planning for the Bidirectional Quadrotor as a Differentially Flat Hybrid System
Publisher IEEE
A Compositional Approach to Certifying Almost Global Asymptotic Stability of Cascade Systems
Publisher IEEE
Dynamically Feasible Task Space Planning for Underactuated Aerial Manipulators
Publisher IEEE International Conference on Robotics and Automation (ICRA)
Coordinate-Free Dynamics and Differential Flatness of a Class of 6DOF Aerial Manipulators
Publisher Institute of Electrical and Electronics Engineers (IEEE)
Autonomous Flight for Detection, Localization, and Tracking of Moving Targets With a Small Quadrotor
Publisher Institute of Electrical and Electronics Engineers (IEEE)
Publisher Institute of Electrical and Electronics Engineers (IEEE)
News
Student News
The 2024 SEAS Graduate Awards Ceremony Shines a Spotlight on GRASP Student Achievements
May 28, 2024