Sheng Cheng 程 晟

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Postdoctoral Research Associate
Department of Mechanical Science and Engineering,
University of Illinois Urbana-Champaign

Email: chengs [@] illinois [DOT] edu
GitHub: Sheng-Cheng

About me

Hello! Thank you for visiting my website. I'm a postdoc at UIUC working with Prof. Naira Hovakimyan. I received my Ph.D. in Electrical Engineering from the University of Maryland, under the supervision of Prof. Derek A. Paley in 2021. My Curriculum Vitae can be found here.

Recent news

  • 2022/01: Our new paper on L1 augmentation of geometric tracking control for quadrotors has been accepted by ICRA 2022! The preprint is available on arXiv. The video for experiments can be found here.

  • 2022/01: Our paper on optimal estimation of a 2D diffusion-advection process has been accepted for publication by Automatica. The paper can be accessed here

  • 2021/07: I will join UIUC as a Postdoctoral Research Associate working with Prof. Naira Hovakimyan since Fall 2021.

  • 2021/06: Our paper on optimal control of a 2D diffusion-advection process has been accepted for publication by Automatica. The paper can be accessed here.

  • 2021/05: I defended my Ph.D. dissertation titled “Optimal estimation and control of a distributed parameter system by a team of mobile sensors and actuators” successfully.

  • 2021/05: I will present our work on a cooperative framework of estimation and control of a spatiotemporal process at the poster session of MRC Research Symposium

  • 2021/03: I'm going to give a presentation at SIAM Conference on Applications of Dynamical Systems (DS21). See here for more information.

  • 2021/03: Our paper on an optimality gap test of the quadratic program with two quadratic constraints has been published by SIAM Journal on Optimization. The paper is available here. The associated MATLAB code for the optimality gap test is available on GitHub.

  • 2021/01: Our paper on optimal control of a 1D diffusion with unknown initial conditions will be presented at 2021 American Control Conference.

  • 2021/01: I'm co-teaching Advanced Dynamics of Aerospace Systems (ENAE646) with my advisor Dr. Derek Paley in Spring 2021.

Research

Research Interests

Adaptive control; robotics; PDE control and estimation; cooperative control; optimization;

Publications

  1. 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.

  2. Z. Wu, S.Cheng, K. A. Ackerman, A. Gahlawat, A. Lakshmanan, P. Zhao, N. Hovakimyan, “L1 Adaptive Augmentation for Geometric Tracking Control of Quadrotors,” accepted by ICRA 2022. pre-print | video

  3. S. Cheng and D. A. Paley, “Cooperative estimation and control of a diffusion based spatiotemporal process using mobile sensors and actuators,” submitted.

  4. 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.

  5. 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.

  6. 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. | code

  7. 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. | slides | video

  8. 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. | slides | video

  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.

  10. 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. | slides

  11. S. Cheng, “Reaching a target within a GPS-denied or costly area: a two-stage optimal control approach,” M.S. Thesis, University of Maryland, College Park, MD, 2018.

Current Project

TBD
Duration: September 2021 - present
Advisor: Prof. Naira Hovakimyan
Project description: will be updated soon.

Past Projects

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Mobile estimation and control of a dynamical spatiotemporal process
Duration: January 2019–July 2021
Advisor: Dr. Derek Paley
Project description: The long-term goal of this project is to enable multiple autonomous agents to adaptively estimate and possibly control a dynamical spatiotemporal process (e.g., harmful algal blooms or forest fires). The specific research objective is to apply tools from the theory of infinite-dimensional systems, nonlinear estimation, optimal experiment design, inverse problems, network science, uncertainty quantification, and multi-vehicle control to solve the problem of (i) estimation and control of a dynamical spatiotemporal process and (ii) task allocation for a heterogeneous group of resource-constrained agents.

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Cooperative mapping, searching, and tracking in an uncertain urban environment
Duration: September 2018–July 2019
Advisor: Dr. Derek Paley
Project description: In this project, we propose a cooperative mapping and search algorithm for detecting a single moving target in an urban environment that is initially unknown to a team of autonomous quadrotors equipped with noisy sensors with a limited field of view. This algorithm is being tested with real quadrotors and a simulated target at the Fearless Flight Facility (F3) of the University of Maryland. This work is in collaboration with Dr. Artur Wolek and Heron Systems Inc.

Video

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Reaching a target within a GPS-denied or costly area: a two-stage optimal control approach
Duration: July 2016–August 2018
Advisor: Dr. Nuno Martins
Project description: In this project, we study a new class of problem where a mobile agent is controlled to reach a target that is either costly or GPS denied. We formulate a two-stage optimal control problem and propose solution methods. For the case of GPS denied area, we validate the controller in a quadrotor experiment (demo).
This work was supported by the Air Force Center of Excellence: Nature Inspired Flight Technologies and Ideas (NIFTI).

Poster

Honors and Awards

Courses (graduate-level)

Teaching and Mentoring

Service

Address

MEL 2009
University of Illinois Urbana-Champaign
Urbana, IL 61801

Visitors