2 papers
cs.RO2026
Error-State LQR Formulation for Quadrotor UAV Trajectory Tracking
Micah I. Reich, Micah Reich
This article presents an error-state Linear Quadratic Regulator (LQR) formulation for robust trajectory tracking in quadrotor Unmanned Aerial Vehicles (UAVs). The proposed approach…
cs.RO2026
Complementarity by Construction: A Lie-Group Approach to Solving Quadratic Programs with Linear Complementarity Constraints
Arun L. Bishop, Micah I. Reich, Zachary Manchester
Many problems in robotics require reasoning over a mix of continuous dynamics and discrete events, such as making and breaking contact in manipulation and locomotion. These problem…