Peng Cheng
Research Scientist
(Advisor: Prof. Vijay Kumar),
GRASP Laboratory,
[ Education | Research | Teaching | Publications | Contact ]
What is
New:
- 4/27/08: paper “Cooperative Towing with Multiple Robots” is submitted to the Journal of Mechanism and Robotics.
- 4/15/08: paper “Abstractions and Algorithms for Cooperative Multiple Robot Planar Manipulation” is accepted to RSS 2008. [ video ]
- 3/31/08: paper “Cooperative Towing with Multiple Robots” is accepted to IDETC 2008.
- 2/22/08: paper “Time-Optimal UAV Trajectory Planning for 3D Urban Structure Coverage” is submitted to IROS 2008.
- 11/21/07: our micro / meso scale system is featured on Microsoft Robotics Studio blog. [ link ] [ video ]
- 11/17/07: I am co-organizing the ICRA 2008 workshop "Cooperative Control of Multiple Heterogeneous Unmanned Aerial Vehicles for Coverage and Surveillance" to be held on May 20, 2008. [ link ]
- Ph.D., Computer Science,
- M.S., Computer Science,
- B.E., M.E., Electrical Engineering,
My research lies at the interface of computation, control, dynamics, and mechanics. My current focus is studying control space approaches to develop novel motion planning, control, modeling, simulation, validation, verification algorithms for robotic systems with two applications in 1) manipulation systems for flexible assembly at micro (1μm-100μm), meso (100μm-10mm), and macro scale and 2) mobile robotic sensor network systems (consisting of multiple heterogeneous unmanned autonomous vehicles equipped with onboard sensors and network devices). Projects I am currently involved include:
- Robotics and Motion Planning
Instructor, Mechanical Engineering and Applied Mechanics, University of Pennsylvania
Spring 2006, 2007, 2008 - Robotic Motion
Planning
Invited instructor, Electrical and Computer Engineering, University of Illinois
Spring 2005
Cooperative Towing with Multiple
Robots
Peng Cheng and Jon Fink and Vijay Kumar and Jong-Shi Pang
Journal of Mechanism and Robotics, 2008 (submitted).
[pdf] [bib]- Abstractions and Algorithms for
Cooperative Multiple Robot Planar Manipulation
Peng Cheng and Jon Fink and Vijay Kumar
Robotics: Science and Systems, 2008.
[pdf] [bib] [video] - Time-Optimal UAV Trajectory Planning for 3D Urban
Structure Coverage
Peng Cheng and James Keller and Vijay Kumar
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008 (submitted).
[pdf] [bib] - Cooperative Towing with Multiple
Robots
Jon Fink, Peng Cheng, and Vijay Kumar
Design Engineering Technical Conferences & Computers and Information in Engineering Conference, 2008.
[pdf] [bib] [video] - Improving the Performance of Sampling-Based Motion Planning
with Symmetry-Based Gap Reduction
Peng Cheng, Emilio Frazzoli, and Steven M. LaValle
IEEE Trans. on Robotics, 2008.
[pdf] [bib] - An
Almost Communication-Less Approach to Task Allocation for Multiple
Unmanned Aerial Vehicles
Peng Cheng and Vijay Kumar
International Conference on Robotics and Automation, 2008.
[pdf] [bib] [video] - Meso-scale
Manipulation: System, Modeling, Planning and Control
David J. Cappelleri, Peng Cheng, Jonathan Fink, Bogdan Gavrea, and Vijay Kumar
International Conference on Robotics and Automation, video submission, 2008.
[video] [bib] - Planning
and Control of Meso-scale Manipulation Tasks with Uncertainties
Peng Cheng, David J. Cappelleri, Bogdan Gavrea, and Vijay Kumar
Robotics: Science and Systems, 2007.
[pdf] [bib] [link to the MSRS blog] [video] - Decidability
of motion planning with differential constraints
Peng Cheng, George Pappas, and Vijay Kumar
IEEE International Conference on Robotics and Automation, 2007.
[pdf] [bib] - Sampling-based Falsification and Verification of
Controllers for Continuous Dynamic Systems
Peng Cheng and Vijay Kumar
International Journal of Robotics Research (invited as one of selected papers in
The Seventh International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2006.)
[pdf] [bib1] [bib2] [video] - Cooperative
Control of UAVs for Search and Coverage
A. Ahmadzadeh, G. Buchman, P. Cheng, A. Jadbabaie, J. Keller, V. Kumar, and G. Pappas
Proceedings of the AUVSI Conference on Unmanned Systems, 2006.
[bib] - Motion
Planning for the Roller Racer with a Sticking/Slipping Switching Model
Peng Cheng, Emilio Frazzoli, and Vijay Kumar
IEEE International Conference on Robotics and Automation, 2006.
[pdf] [bib] - Resolution
completeness for sampling-based motion planning with differential
constraints
Peng Cheng and Steven M. LaValle
International Journal of Robotics Research (under revision after the second submission review).
[bib] - Sampling-Based
Motion Planning with Differential Constraints
Peng Cheng
PhD thesis, University of Illinois, Urbana, Illinois, August 2005.
[pdf] [bib] - Iteratively
Locating Voronoi Vertices for Dispersion Estimation
Stephen R. Lindemann and Peng Cheng
IEEE International Conference on Robotics and Automation, 2005.
[pdf] [bib] - RoboTrikke:
A Novel Undulatory Locomotion System
IEEE International Conference on Robotics and Automation, 2005.
[pdf] [bib] [video] - Algorithms
for Planning under Uncertainty in Prediction and Sensing
J. O'Kane, B. Tovar, P. Cheng, and S. M. LaValle
Autonomous Mobile Robots: Sensing, Control, Decision-Making, and Applications, S.S. Ge and F. L. Lewis (Eds.)
Series in Control Engineering, Marcel Dekker, 2006.
[bib] - Improving
the Performance of Sampling-Based Planners by Using a Symmetry-Exploiting
Gap Reduction Algorithm
Peng Cheng and Emilio Frazzoli, and Steven M. LaValle
IEEE International Conference on Robotics and Automation, 2004.
[pdf] [bib] [video of dynamics] [video of orientation constraints] [video of a solution] [image] - Exploiting
Group Symmetries to Improve Precision in Kinodynamic and Nonholonomic
Planning
Peng Cheng and Emilio Frazzoli, and Steven M. LaValle
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003.
[pdf] [bib] - Resolution
Complete Rapidly-Exploring Random Trees
Peng Cheng and Steven M. LaValle
IEEE International Conference on Robotics and Automation, 2002.
[pdf] [bib] [video] [image] - Reducing
RRT metric sensitivity for motion planning with differential constraints
Peng Cheng
Masters thesis,
[pdf] [bib] - RRT-Based
Trajectory Design for Autonomous Automobiles and Spacecraft
Peng Cheng, Zuojun Shen, and Steven M. LaValle
Archives of Control Sciences, Vol. 11 (XLVII), No, 3-4, pages 167-194, 2001.
[pdf] [bib] - Reducing
Metric Sensitivity in Randomized Trajectory Design
Peng Cheng and Steven M. LaValle
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001.
[pdf] [bib] [video1] [video2] [image] - Using
Randomization to Find and Optimize Feasible Trajectories for Nonlinear
Systems
Peng Cheng, Zuojun Shen, and Steven M. LaValle
Proc. 38th Annual Allerton Conference on Communication, Control, and Computing, 2000.
[pdf] [bib]
Contact: (top)
Levine Hall L402, GRASP Laboratory
University of Pennsylvania
3330 Walnut Street
Email: chpeng (at) seas (dot) upenn (dot) edu