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cs.RO2026
Nonlinear Model Predictive Control for Trajectory Tracking of Differentially Flat Fixed-Wing Aerial Systems
Nishanth Bobbili, Pratyaksh Rao, Luca Morando +2
Planning and control of fixed-wing Unmanned Aerial Vehicles (UAVs) are challenging due to nonlinear dynamics, aerodynamic limits, and environmental disturbances. Differential flatn…
cs.RO2026
SkyJEPA: Learning Long-Horizon World Models for Zero-Shot Sim-to-Real Control of Quadrotors
Pratyaksh Rao, Wancong Zhang, Randall Balestriero +2
Accurate dynamics models are critical for informed decision-making in robotic systems, particularly for agile aerial vehicles operating under uncertainty. Neural network dynamics m…
cs.RO2024
Learning Long-Horizon Predictions for Quadrotor Dynamics
Pratyaksh Prabhav Rao, Alessandro Saviolo, Tommaso Castiglione Ferrari +1
Accurate modeling of system dynamics is crucial for achieving high-performance planning and control of robotic systems. Although existing data-driven approaches represent a promisi…