Chuyuan Tao

Chuyuan Tao

PhD Candidate in Mechanical Engineering

chuyuan2@illinois.edu

Advanced Controls Research Laboratory (ACRL)

University of Illinois at Urbana-Champaign

(217) 693-9240

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About Me

I am passionate about advancing robotics and autonomous systems to operate safely and efficiently in dynamic, uncertain environments. My research focuses on ensuring reliable performance by addressing challenges in system robustness, adaptability, and safety. I am particularly interested in integrating control systems with motion planning, enabling autonomous systems to make informed decisions and adapt to changing conditions. My work extends to developing approaches that allow robots and autonomous systems to handle disturbances, unforeseen obstacles, and system faults. Ultimately, I strive to push the boundaries of autonomous systems, enhancing their functionality and performance across diverse real-world applications.

Resilient Estimator-based Control Barrier Functions for Dynamical Systems

Efficient and Safe Sampling-Based Motion Planning Strategies

Optimization-based Planners for Continuous-Time Control in Robotics

Embedded Systems and Digital Control for Mechatronics Applications

Publications

First Author Publications

C Tao, H Kim, N Hovakimyan. "RRT guided model predictive path integral method." 2023 American Control Conference (ACC), 776-781. 6 (2023).

C Tao, S Cheng, Y Zhao, F Wang, N Hovakimyan. "An Optimization-Based Planner with B-spline Parameterized Continuous-Time Reference Signals." arXiv preprint arXiv:2404.00133 (2024).

C Tao, W Wan, J Gao, B Mo, H Kim, N Hovakimyan. "Resilient Estimator-based Control Barrier Functions for Dynamical Systems with Disturbances and Noise." AIAA AVIATION FORUM AND ASCEND 2024, 4498 (2024).

C Tao, H Kim, H Yoon, N Hovakimyan, P Voulgaris. "Control barrier function augmentation in sampling-based control algorithm for sample efficiency." 2022 American Control Conference (ACC), 3488-3493. 13 (2022).

C Tao, HJ Yoon, H Kim, N Hovakimyan, P Voulgaris. "Path integral methods with stochastic control barrier functions." 2022 IEEE 61st Conference on Decision and Control (CDC), 1654-1659. 9 (2022).

Co-authored Publications

P Zhao, Y Mao, C Tao, N Hovakimyan, X Wang. "Adaptive robust quadratic programs using control Lyapunov and barrier functions." 2020 59th IEEE Conference on Decision and Control (CDC), 3353-3358. 46 (2020).

L Song, N Wan, A Gahlawat, C Tao, N Hovakimyan, EA Theodorou. "Generalization of safe optimal control actions on networked multiagent systems." IEEE transactions on control of network systems 10 (1), 491-502. 18 (2022).

HJ Yoon, C Tao, H Kim, N Hovakimyan, P Voulgaris. "Sampling complexity of path integral methods for trajectory optimization." 2022 American Control Conference (ACC), 3482-3487. 8 (2022).

HJ Yoon, C Tao, H Kim, N Hovakimyan, P Voulgaris. "Adaptive Risk Sensitive Path Integral for Model Predictive Control via Reinforcement Learning." 2023 31st Mediterranean Conference on Control and Automation (MED), 926-931. (2023).

N Hovakimyan, H Kim, W Wan, C Tao. "Safe Operation of Connected Vehicles in Complex and Unforeseen Environments." I-ACT-21-06. (2022).

PZ Zhao, YM Mao, C Tao, N Hovakimyan, X Wang. "Robust Adaptive Quadratic Programs using Control Lyapunov and Barrier Functions." IEEE Conference on Decision and Control. (2020).

H Kim, C Tao, N Hovakimyan. "Socially Aware Motion Planning for a Flying Robot with Model Predictive Path Integral Control." (Year not provided).

Teaching

ME 461 - Computer Control of Mechanical Systems, University of Illinois Urbana-Champaign

Instructor. Fall 2024.