This is the research I worked on in Richard Murray's lab on Caltech campus. I was in charge of the project, but I had a PhD student mentor (Josefine Graebener), who I could consult and who gave me ideas. After the nearly 2 years of work, I submitted a paper to ICRA 2023. Below is the paper itself along with the accompanying 3 minuite video (a good watch to get a quick idea of how it works).
