Sheng Cheng

Sheng Cheng

Postdoctoral Research Associate at UIUC

Publications

Journal articles

  1. H. Lee, S. Cheng, Z. Wu, J. Lim, R. Siegwart, N. Hovakimyan, “Geometric Tracking Control of Omnidirectional Multirotors for Aggressive Maneuvers in the Presence of Rotor Dynamics,” under review. [arXiv] | [video]
  2. S. M. Rajkumar, S. Cheng, N. Hovakimyan, D. Goswami, “Linear Model Predictive Control for Quadrotors with an Analytically Derived Koopman Model,” under review, 2024. [arXiv]
  3. S. Cheng, M. Kim, L. Song, C. Yang, Y. Jin, S. Wang, N. Hovakimyan, “DiffTune: Auto-Tuning through Auto-Differentiation,” IEEE Transactions on Robotics, 2024. [arXiv] | [video] | [code]
  4. R. Tao, S. Cheng, X. Wang, S. Wang, N Hovakimyan, “DiffTune-MPC: Closed-Loop Learning for Model Predictive Control,” IEEE Robotics and Automation Letters, 2024. [arXiv]
  5. 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]
  6. 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. [paper] | [arXiv]
  7. S. Cheng and D. A. Paley, “Cooperative estimation and control of a diffusion based spatiotemporal process using mobile sensors and actuators,” Autonomous Robots, 2023. [paper] | [video]
  8. 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. [paper]
  9. 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. [paper]
  10. 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. [paper] | [code]
  11. 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. [paper] | [video]

Conference papers

  1. Q. Chen, J. Li, S. Cheng, N. Hovakimyan, Q. Nguyen, “Autotuning Bipedal Locomotion MPC with GRFM-Net for Efficient Sim-to-Real Transfer,” under review, 2024. [arXiv][video]
  2. H. Pham, S. Cheng, Z. Han, C. Yang, Q. Luu, N. Hovakimyan, V. Ho, “Collision-resilient Quadrotor with Tombo Propellers and L1Quad,” under review, 2024.
  3. S. Cheng, Y. Gu, R. Tao, S. Wang, X. Wang, N. Hovakimyan, “Task-Parameter Nexus for Learning Task-Specific Parameters in Model-Based Control,” accepted for presentation at ICRA@40, 2024.
  4. C. Tao, S. Cheng, Y. Zhao, F. Wang, N. Hovakimyan, “An Optimization-Based Planner with B-spline Parameterized Continuous-Time Reference Signals,” accepted for presentation at the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024.
  5. Y. Gu, S. Cheng, N. Hovakimyan, “Proto-MPC: An Encoder-Prototype-Decoder Approach for Quadrotor Control in Challenging Winds,” in Proceedings of the 6th Annual Learning for Dynamics and Control Conference, 2024. [arXiv]
  6. 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. [paper] | [arXiv]
  7. 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. [paper]
  8. L. Song, S. Cheng, N. Hovakimyan, S. Mitra, “Automatic Formal Verification of L1 Adaptive Control Systems,” AIAA SciTech Forum, 2024. [paper]
  9. 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. [paper] | [arXiv]
  10. 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]
  11. 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]
  12. 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. [paper]
  13. 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. [paper] | [slides] | [video]
  14. 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. [paper] | [slides] | [video]
  15. 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. [paper] | [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.