I am a research assistant in the Field Robotics Center at Carnegie Mellon University's Robotics Institute. I work with Dr. Nathan Michael in the Resilient Intelligent Systems Laboratory.
My research focus is modeling the influence of spatiotemporal flow fields on robot motion to inform planning and control. This work has primarily been applied to quadrotor micro air vehicles that are impacted by flow disturbances such as outdoor wind gusts and induced airflow in confined spaces. By predicting the feasibility of potential motions given constraints on vehicle sensing, computation, and actuation, the safety and efficiency of robot operations in flow fields can be improved. Current applications of this research include bridge inspection and rooftop inspection with rotorcraft micro air vehicles.
J. W. Yao, V. R. Desaraju, and N. Michael. “Experience-Based Models of Surface Proximal Aerial Robot Flight Performance in Wind.” International Symposium on Experimental Robotics (ISER), October 2016. [PDF]
Email: johnyao AT cmu DOT edu
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