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eess.SY2026
Physics-Informed Learning of Feedback-Linearizing Representations
Pavlos Kallinikidis, Fengjun Yang, David Snyder +4
Feedback linearization is a powerful tool in nonlinear control, but finding the linearizing coordinate transform remains challenging. Feedback linearizing transforms are governed b…
cs.RO2026
Flatness-Preserving Residual Learning for Real-Time Tight Quadrotor Formation Flight
Pei-An Hsieh, Fengjun Yang, Nikolai Matni +1
Quadrotors flying in tight formations are severely affected by turbulent aerodynamic interactions, such as downwash, that can cause catastrophic collisions if left unmodeled. To co…
cs.RO2026
Learning-Based Fault Detection for Legged Robots in Remote Dynamic Environments
Abriana Stewart-Height, Seema Jahagirdar, Nikolai Matni
Operations in hazardous environments put humans, animals, and machines at high risk for physically damaging consequences. In contrast to humans and animals, quadruped robots cannot…