Sheng Cheng

Sheng Cheng

Postdoctoral Research Associate at UIUC

Publications

Journal articles

  1. R. Tao, S. Cheng, X. Wang, S. Wang, N Hovakimyan, “DiffTune-MPC: Closed-Loop Learning for Model Predictive Control,” under review, 2023. [arXiv]
  2. S. Cheng, M. Kim, L. Song, C. Yang, Y. Jin, S. Wang, N. Hovakimyan, “DiffTune: Auto-Tuning through Auto-Differentiation,” under revision for IEEE Transactions on Robotics. [arXiv] | [video] | [code]
  3. Z. Wu, S. Cheng, P. Zhao, A. Gahlawat, K. A. Ackerman, A. Lakshmanan, C. Yang, J. Yu, N. Hovakimyan, “L1Quad: L1 Adaptive Augmentation of Geometric Control for Agile Quadrotors with Performance Guarantees,” under revision for IEEE Transactions on Control Systems Technology. [arxiv] | [video] | [code]
  4. Q. Chen, S. Cheng, N. Hovakimyan, “Simultaneous Spatial and Temporal Assignment for Fast UAV Trajectory Optimization using Bilevel Optimization,” IEEE Robotics and Automation Letters, vol. 8, no. 6, pp. 3860-3867, 2023. [link] | [arXiv]
  5. S. Cheng and D. A. Paley, “Cooperative estimation and control of a diffusion based spatiotemporal process using mobile sensors and actuators,” Autonomous Robots, 2023. [link] | [video]
  6. S. Cheng and D. A. Paley, “Optimal guidance and estimation of a 2D diffusion-advection process by a team of mobile sensors,” Automatica, vol. 137, p. 110112, 2022. [link]
  7. S. Cheng and D. A. Paley, “Optimal control of a 2D diffusion-advection process with a team of mobile actuators under jointly optimal guidance,” Automatica, vol. 133, p. 109866, 2021. [link]
  8. S. Cheng and N. C. Martins, “An Optimality Gap Test for a Semidefinite Relaxation of a Quadratic Program with Two Quadratic Constraints,” SIAM Journal on Optimization, vol. 31, no. 1, pp. 866-886, March 2021. [link] | [code]
  9. A. Wolek, S. Cheng, D. Goswami, and D. A. Paley, “Cooperative mapping and target search over an unknown occupancy graph using mutual information,” IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 1071-1078, April 2020. [link] | [video]

Conference papers

  1. Y. Gu, S. Cheng, N. Hovakimyan, “Proto-MPC: An Encoder-Prototype-Decoder Approach for Quadrotor Control in Challenging Winds,” under review, 2023. [arXiv]
  2. A. Bansal, Y. Zhao, J. Zhu, S. Cheng, Y. Gu, H. Yoon, H. Kim, N. Hovakimyan, L. Sha, “Synergistic Perception and Control Simplex for Verifiable Safe Vertical Landing,” AIAA SciTech Forum, 2024. [link] | [arXiv]
  3. J. L. Bullock, S. Cheng, A. Patterson, M. Acheson, N. Hovakimyan, I. Gregory, “Reference Command Optimization for the Transition Flight Mode of a Lift Plus Cruise Vehicle,” AIAA SciTech Forum, 2024. [link]
  4. L. Song, S. Cheng, N. Hovakimyan, S. Mitra, “Automatic Formal Verification of L1 Adaptive Control Systems,” AIAA SciTech Forum, 2024. [link]
  5. L. Song, Y. Li, S. Cheng, P. Zhao, S. Mitra, N. Hovakimyan, “Verification of L1 Adaptive Control using Verse Library: A Case Study of Quadrotors,” In Proceedings of 13th IEEE International Conference on Cyber Physical Systems (ICCPS), pp. 245–246, San Antonio, TX, 2023. [link] | [arXiv]
  6. S. Cheng, L. Song, M. Kim, S. Wang, N. Hovakimyan, “DiffTune+: Hyperparameter-Free Auto-Tuning using Auto-Differentiation,” In Proceedings of 5th Learning for Dynamics and Control Conference (pp. 170-183). PMLR. Selected for oral presentation (9.5% acceptance rate). [paper] | [arXiv] | [video] | [code]
  7. H. Lee, S. Cheng, Z. Wu, N. Hovakimyan, “Geometric Tracking Control of Omnidirectional Multirotors in the Presence of Rotor Dynamics,” submitted. [arXiv] | [video]
  8. Z. Wu, S.Cheng, K. A. Ackerman, A. Gahlawat, A. Lakshmanan, P. Zhao, N. Hovakimyan, “L1 Adaptive Augmentation for Geometric Tracking Control of Quadrotors,” in Proceedings of the International Conference on Robotics and Automation (ICRA), 2022, pp. 1329–1336. [paper] | [code] | [video]
  9. S. Cheng and D. A. Paley, “Optimal guidance of a team of mobile actuators for controlling a 1D diffusion process with unknown initial conditions,” in Proceedings of the 2021 American Control Conference, pp. 1493-1498, 2021. [link]
  10. S. Cheng and D. A. Paley, “Optimal guidance and estimation of a 1D diffusion process by a team of mobile sensors,” in Proceedings of the 59th IEEE Conference on Decision and Control, pp. 1222-1228, 2020. [link] | [slides] | [video]
  11. S. Cheng and D. A. Paley, “Optimal control of a 1D diffusion process with a team of mobile actuators under jointly optimal guidance,” in Proceedings of the 2020 American Control Conference, pp. 3449-3454, 2020. [link] | [slides] | [video]
  12. S. Cheng and N. C. Martins, “Reaching a target in a time-costly area using a two-stage optimal control method,” in Proceedings of the 2019 American Control Conference, pp. 4903-4910, 2019. [link] | [slides]

Workshop papers

  1. S. Cheng, M. Kim, L. Song, Z. Wu, S. Wang, N. Hovakimyan, “An Auto-Tuning Framework for Controllers using Auto-Differentiation,” presented at CoRL workshop Learning to Adapt and Improve in the Real World (RoboAdapt), 2022.