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cs.RO2025
High-Altitude Balloon Station-Keeping with First Order Model Predictive Control
Myles Pasetsky, Jiawei Lin, Bradley Guo +1
High-altitude balloons (HABs) are common in scientific research due to their wide range of applications and low cost. Because of their nonlinear, underactuated dynamics and the par…
cs.RO2025
PrioriTouch: Adapting to User Contact Preferences for Whole-Arm Physical Human-Robot Interaction
Rishabh Madan, Jiawei Lin, Mahika Goel +10
Physical human-robot interaction (pHRI) requires robots to adapt to individual contact preferences, such as where and how much force is applied. Identifying preferences is difficul…
cs.RO2024
Continuous Execution of High-Level Collaborative Tasks for Heterogeneous Robot Teams
Amy Fang, Tenny Yin, Jiawei Lin +1
We propose a control synthesis framework for a heterogeneous multi-robot system to satisfy collaborative tasks, where actions may take varying duration of time to complete. We enco…