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cs.RO2024
Leveraging Symmetry to Accelerate Learning of Trajectory Tracking Controllers for Free-Flying Robotic Systems
Jake Welde, Nishanth Rao, Pratik Kunapuli +2
Tracking controllers enable robotic systems to accurately follow planned reference trajectories. In particular, reinforcement learning (RL) has shown promise in the synthesis of co…
eess.SY2024★ 4 cited
Almost Global Asymptotic Trajectory Tracking for Fully-Actuated Mechanical Systems on Homogeneous Riemannian Manifolds
Jake Welde, Vijay Kumar
In this work, we address the design of tracking controllers that drive a mechanical system's state asymptotically towards a reference trajectory. Motivated by aerospace and robotic…