論文

Tatsuya Ibuki, Sean Wilson, Junya Yamauchi, Masayuki Fujita and Magnus Egerstedt
Optimization Based Distributed Flocking Control for Multiple Rigid Bodies
IEEE Robotics and Automation Letters, Vol. 5, No. 2, pp. 1891-1898, Apr., 2020
(DOI: 10.1109/LRA.2020.2969950)

山内淳矢, 原田裕平, 畑中健志, 藤田政之
ネットワーク化視覚運動オブザーバに基づく3次元空間内での協調追尾制御
(Cooperative Pursuit Control based on Networked Visual Motion Observer in Three Dimensions)
計測自動制御学会論文集, Vol. 56, No. 7, pp. 386-393, July, 2020
(DOI: 10.9746/sicetr.56.386)

Riku Funada, Xiaoyi Cai, Gennaro Notomista, Made Widhi Surya Atman, Junya Yamauchi, Masayuki Fujita and M. Egerstedt
Coordination of Robot Teams Over Long Distances From Georgia Tech to Tokyo Tech and Back; An 11,000km Multi-Robot Experiment
IEEE Control Systems Magazine, Vol. 40, No. 4, pp. 53-79, July, 2020
(DOI: 10.1109/MCS.2020.2990515)

Tatsuya Miyano, Shunya Yamashita, Takeshi Hatanaka, Kazuki Shibata, Tomohiko Jimbo and Masayuki Fujita
Continuous-time Optimization Dynamics in Imitation of ADMM Architecture and Passivity-Based Robustification against Delays
IEEE Transactions on Control of Network Systems, Vol. 7, No. 3, pp. 1296-1307, Sep., 2020
(DOI: 10.1109/TCNS.2020.2972590)

Takeshi Hatanaka, Riku Funada and Masayuki Fujita
Visual Surveillance of Human Activities via Gradient-based Coverage Control on Matrix Manifolds
IEEE Transactions on Control Systems Technology, Vol. 28, No. 6, pp. 2220-2234, Nov., 2020
(DOI: 10.1109/TCST.2019.2935063)

山内淳矢, 玄長拓磨, 舩田 陸, 畑中健志, 藤田政之
情報信頼度とエネルギー管理を考慮した視野重複を保証する持続的視覚被覆制御
(Persistent Visual Coverage Control Ensuring Field of Views’ Overlap with Information Reliability and Energy Management)
電気学会論文誌 C, Vol. 141, No. 3, pp. 1-9, pp. 417-425, Mar., 2021
(DOI: 10.1541/ieejeiss.141.417)

Marco Omainska, Junya Yamauchi, Thomas Beckers, Takeshi Hatanaka, Sandra Hirche and Masayuki Fujita
Gaussian Process Based Visual Pursuit Control with Unknown Target Motion Learning in Three Dimensions
SICE Journal of Control, Measurement, and System Integration, Vol. 14, No. 1, pp. 116-127, June, 2021
(DOI: 10.1080/18824889.2021.1936855)

村尾俊幸, 小塩祐亮, 河合宏之, 山内淳矢, 畑中健志, 藤田政之
受動性に基づく人間–剛体ネットワークの動的協調制御
(Passivity-Based Cooperative Dynamic Control for Human-Rigid Body Networks)
電気学会論文誌 C, Vol. 141, No. 11, November, to appear, 2021

Nikhil Chopra, Masayuki Fujita, Romeo Ortega and Mark W. Spong
Passivity-Based Control of Robots
IEEE Control Systems Magazine, to appear, 2021

Hayato Dan, Takeshi Hatanaka, Junya Yamauchi, Masayuki Fujita
Persistent Object Search and Surveillance Control with Safety Certificates for Drone Networks Based on Control Barrier Functions
under preparation, 2021
会議論文（査読有）

Tatsuya Ibuki, Sean Wilson, J. Yamauchi, Masayuki Fujita and Magnus Egerstedt
Optimization Based Distributed Flocking Control for Multiple Rigid Bodies
Proc. of 2020 International Conference on Robotics and Automation (ICRA), WeC11.5, 2020
Riku Funada, Maria Santos, Takuma Gencho, Junya Yamauchi, Masayuki Fujita and Magnus Egerstedt
Visual Coverage Maintenance for Quadcopters Using Nonsmooth Barrier Functions
Proc. of 2020 International Conference on Robotics and Automation (ICRA), pp. 3255-3261, 2020
(DOI: 10.1109/ICRA40945.2020.9196650)
Hayato Dan, Junya Yamauchi, Takeshi Hatanaka and Masayuki Fujita
Control Barrier Function-Based Persistent Coverage with Performance Guarantee and Application to Object Search Scenario
Proc. of 4th IEEE Conference on Control Technology and Applications (CCTA), pp. 640-647, 2020
(DOI: 10.1109/CCTA41146.2020.9206273)
Junya Yamauchi, Thomas Beckers, Marco Omainska, Takeshi Hatanaka, Sandra Hirche and Masayuki Fujita
Visual Pursuit Control with Target Motion Learning via Gaussian Process
Proc. of 59th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE), pp. 1365-1372, 2020
(DOI: 10.23919/SICE48898.2020.9240221)
Takeshi Hatanaka, Kosei Noda, Junya Yamauchi, Koji Sokabe, Keita Shimamoto and Masayuki Fujita
Human-Robot Collaboration with Variable Autonomy via Gaussian Process
Proc. of 3rd IFAC Workshop on Cyber-Physical & Human Systems, pp. 126-133, 2020
(DOI: 10.1016/j.ifacol.2021.04.091)
Junya Yamauchi, Tomoki Adachi and Masayuki Fujita
Optimization Based 3D Object Monitoring with Robot Safety by Control Barrier Functions on a Sphere
Proc. of 60th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE), to be presented, 2021
Junya Yamauchi, Thomas Beckers, Marco Omainska, Takeshi Hatanaka, Sandra Hirche and Masayuki Fujita
Cooperative Visual Pursuit Control with Learning of Position Dependent Target Motion via Gaussian Process
Proc. of the 60th IEEE Conference on Decision and Control, submitted, 2021
会議論文（査読無）

山内淳矢，Jae-Yu Yeh，檀隼人，畑中健志，藤田政之
制御バリア関数に基づく被覆性能を考慮した持続被覆制御の分散化手法の提案
第63回自動制御連合講演会, pp.643-646, Nov., 2020

足立智貴，山内淳矢，中山一秀，畑中健志，藤田政之
ロボットの安全性を考慮した球面上での持続的被覆制御による立体物モニタリング
第8回計測自動制御学会制御部門マルチシンポジウム, 3E2-4, Mar., 2021
著書

藤田政之
触れずに触り、遠隔で操作する――VRとシステム情報学
オンライン・ファースト, 東京大学出版会, Dec., 2020
卒業論文・修士論文・博士論文
2020年度
廣畠靖秀
RVMに基づく未知環境下での確率的安全性を保証した持続的被覆制御
卒業論文, 東京大学, 2021
前田志温
ガウス過程に基づく未知な対象運動に対する視野の安全性を考慮した視覚追尾制御
卒業論文, 東京大学, 2021
足立智貴
被覆性能を保証する制御バリア関数に基づく球面上における持続的被覆制御
修士論文, 東京工業大学, 2021
田屋裕輝
ガウス過程に基づく視野の安全性を保証する制御バリア関数を用いた視覚追尾制御
修士論文, 東京工業大学, 2021
松本大樹
制御バリア関数と被覆制御の基づくアイスホッケー守備陣形の模倣とロジック策定
修士論文, 東京工業大学, 2021
檀隼人
ミクロ・マクロ交通流モデルに基づく最適信号機制御アルゴリズムの提案と検証
博士論文, 東京工業大学, 2021
A.W.Farras
Safe Control of Constrained Robotic Networks with Communication Delays
博士論文, 東京工業大学, 2021
受賞

Hayato Dan, Junya Yamauchi, Takeshi Hatanaka and Masayuki Fujita
Control Barrier Function-Based Persistent Coverage with Performance Guarantee and Application to Object Search Scenario
2020 IEEE CCTA Outstanding Student Paper Award, Aug., 2020

Junya Yamauchi, Thomas Beckers, Marco Omainska, Takeshi Hatanaka, Sandra Hirche and Masayuki Fujita
Visual Pursuit Control with Target Motion Learning via Gaussian Process
Finalists of SICE Annual Conference International Award, Sep., 2020

宮野竜也，山下駿野，畑中健志，柴田一騎，神保智彦，藤田政之
連続時間ADMMの提案と受動性に基づく収束性解析
2020年度計測自動制御学会論文集論文賞・武田賞, Oct., 2020
Takeshi Hatanaka, Kosei Noda, Junya Yamauchi, Koji Sokabe, Keita Shimamoto and Masayuki Fujita
Human-Robot Collaboration with Variable Autonomy via Gaussian Process
IFAC CPHS 2020 Best Research Paper Prize, Dec, 2020
解説

山内淳矢，畑中健志，藤田政之
剛体運動の受動性と視覚追尾制御
システム/制御/情報, Vol. 64, No. 12, pp. 465-470, Dec., 2020
その他

藤田政之
SICE ポストコロナ未来社会ワーキンググループ
主査，SICE，2020

藤田政之
ポスト・コロナの新たな情報化社会へ向けての提言　― もとのシステムに戻さない。 ―
情報理工学系研究科，東京大学，July 4, 2020

Masayuki Fujita
Passivity-Based Control in Robotics: Networks, Vision and Human
Plenary Lecture, CONGRESO AADECA 2020 Virtual, Oct. 29, 2020

藤田政之
ネットワーク化された自律システム
IEEE 東京支部 講演会，東京, Nov. 16, 2020

Masayuki Fujita
Passivity-Based Control in Robotics: Networks, Vision and Human
Keynote Talk, The 2021 International Symposium on Electrical and Electronics Engineering (ISEE 2021), Apr. 15-16, 2021