26 citations · 50 across the 7 of their papers we have counts for
7 papers
DiffTune: Hyperparameter-Free Auto-Tuning using Auto-Differentiation
Sheng Cheng, Lin Song, Minkyung Kim +2
Controller tuning is a vital step to ensure the controller delivers its designed performance. DiffTune has been proposed as an automatic tuning method that unrolls the dynamical sy…
Simultaneous Spatial and Temporal Assignment for Fast UAV Trajectory Optimization using Bilevel Optimization
Qianzhong Chen, Sheng Cheng, Naira Hovakimyan
In this paper, we propose a framework for fast trajectory planning for unmanned aerial vehicles (UAVs). Our framework is reformulated from an existing bilevel optimization, in whic…
DiffTune: Auto-Tuning through Auto-Differentiation
Sheng Cheng, Minkyung Kim, Lin Song +4
The performance of robots in high-level tasks depends on the quality of their lower-level controller, which requires fine-tuning. However, the intrinsically nonlinear dynamics and…
Optimal guidance and estimation of a 2D diffusion-advection process by a team of mobile sensors
Sheng Cheng, Derek A. Paley
This paper describes an optimization framework to design guidance for a possibly heterogeneous team of multiple mobile sensors to estimate a spatiotemporal process modeled by a 2D…
Adaptive Augmentation for Geometric Tracking Control of Quadrotors
Zhuohuan Wu, Sheng Cheng, Kasey A. Ackerman +4
This paper introduces an adaptive control augmentation for geometric tracking control of quadrotors. In the proposed design, the augmentation handle…
Optimal control of a 2D diffusion-advection process with a team of mobile actuators under jointly optimal guidance
Sheng Cheng, Derek A. Paley
This paper describes an optimization framework to control a distributed parameter system (DPS) using a team of mobile actuators. The framework simultaneously seeks optimal control…
An Optimality Gap Test for a Semidefinite Relaxation of a Quadratic Program with Two Quadratic Constraints
Sheng Cheng, Nuno C. Martins
We propose a necessary and sufficient test to determine whether a solution for a general quadratic program with two quadratic constraints (QC2QP) can be computed from that of a spe…