Junya Yamauchi, Ikutoshi Katayama and Masayuki Fujita,
Control Barrier Function based Sequential Coverage Control with Performance Guarantee,
under preparation, 2024
Kodai Kanno, Junya Yamauchi and Masayuki Fujita,
Multi-Layered Interactive Target Guidance with Visual Safety in Convex-Shaped Obstacle Environments,
Special Issue "From Fundamental Research to Application of Bio-Inspired, Bio-Hybrid, and Soft Robotics,"
Applied Sciences, submitted, 2024
Kazuki Mizuta, Junya Yamauchi and Masayuki Fujita,
Distributed Sparse Bayesian Control Barrier Function Synthesis and Its Application to Safe Persistent Exploration,
IEEE Transactions on Control of Network Systems, under revision, 2024
Riku Funada, Maria Santos, Ryuichi Maniwa, Junya Yamauchi, Masayuki Fujita, Mitsuji Sampei and Magnus Egerstedt,
"Distributed Coverage Hole Prevention for Visual Environmental Monitoring with Quadcopters via Nonsmooth Control Barrier Functions,"
IEEE Transactions on Robotics, Vol. 40, pp. 1546-1565, Feb., 2024
(DOI: 10.1109/TRO.2023.3347132)
Marco Omainska, Junya Yamauchi, Tesshu Fujinami and Masayuki Fujita,
"Visual Pursuit with Switched Motion Estimation and Rigid Body Gaussian Processes,"
システム制御情報学会論文誌, Vol. 36, No. 9, pp. 327-335, Sep., 2023
(DOI: 10.5687/iscie.36.327)
Marco Omainska, Junya Yamauchi, Armin Lederer, Sandra Hirche and Masayuki Fujita,
Rigid Motion Gaussian Processes with SE(3) Kernel and Application to Visual Pursuit Control,
IEEE Control Systems Letters, Vol. 7, pp. 2665-2670, June, 2023
(DOI: 10.1109/LCSYS.2023.3287507)
山内淳矢, 水田和輝, 藤田政之,
"スパースベイズ手法による制御バリア関数の学習と安全な持続的被覆制御,"
計測自動制御学会論文集, Vol. 59, No. 5, pp. 235-242, May, 2023
(DOI: 10.9746/sicetr.59.235)
Junya Yamauchi, Makoto Saito, Marco Omainska, Takeshi Hatanaka and Masayuki Fujita,
"Cooperative Visual Pursuit Control with Learning of Target Motion via Distributed Gaussian Processes under Varying Visibility,"
SICE Journal of Control, Measurement, and System Integration, Vol. 15, No. 2, pp. 228-240, Dec., 2022
(DOI: 10.9746/sicetr.59.235)
Zhiyuan Lu, Shunya Yamashita, Junya Yamauchi and Takeshi Hatanaka,
"Distributed online assignment of charging stations in persistent coverage control tasks based on LP relaxation and ADMM,"
SICE Journal of Control, Measurement, and System Integration, Vol. 15, No. 2, pp. 191-200, Sep., 2022
(DOI: 10.1080/18824889.2022.2125246)
Toshiyuki Oshima, Shunya Yamashita, Junya Yamauchi, Tatsuya Ibuki, Michio Seto and Takeshi Hatanaka,
"Loop-shaped distributed learning of an object with data-independent performance certificates,"
Advanced Robotics, Vol. 31, No. 7, pp. 169-182, Aug., 2022
(DOI: 10.1080/01691864.2022.2128872)
Hayato Dan, Takeshi Hatanaka, Junya Yamauchi, Takumi Shimizu and Masayuki Fujita,
"Persistent Object Search and Surveillance Control with Safety Certificates for Drone Networks Based on Control Barrier Functions,"
Frontiers in Robotics and AI, Vol. 8, pp. 1-13, Oct., 2021
(DOI: 10.3389/frobt.2021.740460)
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)
Riku Funada, Xiaoyi Cai, Gennaro Notomista, Made W.S. Atman, Junya Yamauchi, Masayuki Fujita and Magnus 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 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)
Shunya Yamashita, Takeshi Hatanaka, Junya Yamauchi and Masayuki Fujita,
"Passivity-Based Generalization of Primal-Dual Dynamics for Non-Strictly Convex Cost Functions," Automatica, Vol. 112, 108712, Feb., 2020
(DOI: 10.1016/j.automatica.2019.108712)
Aditya W. Farras, Takeshi Hatanaka, Tam W. Nguyen, Riku Funada, Junya Yamauchi and Masayuki Fujita,
"Distributed Dynamic Reference Governor for Constrained Semi-Autonomous Robotic Swarms with Communication Delays and Experimental Verification,"
SICE Journal of Control, Measurement, and System Integration, Vol. 12, No. 6, pp. 237-245, Nov., 2019
(DOI: 10.9746/jcmsi.12.237)
Made W.S. Atman, Takeshi Hatanaka, Zhihua Qu, Nikhil Chopra, Junya Yamauchi, Masayuki Fujita,
"Motion synchronization for semi-autonomous robotic swarm with a passivity-short human operator,"
Special Issue on Human-Centered Robotics, International Journal of Intelligent Robotics and Applications, Vol. 2, No. 2, pp. 235-251, 2018
(DOI: 10.1007/s41315-018-0056-8)
山内淳矢, Made W.S. Atman, 畑中健志, 藤田政之,
"ロボット間の通信遅れを考慮した人間ーロボティックネットワークの協調制御:受動性アプローチ,"
計測自動制御学会論文集, Vol. 53, No. 12, pp. 663-670, 2017
(DOI: 10.9746/sicetr.53.663)
Takeshi Hatanaka, Nikhil Chopra, Junya Yamauchi, Mamoru Doi, Yasunori Kawai and Masayuki Fujita,
"A Passivity-Based System Design of Semi-autonomous Cooperative Robotic Swarm,"
ASME Dynamic Systems & Control Magazine, Vol. 15, No. 2, pp. 14-18, 2017
(DOI: 10.1115/1.2017-Jun-6)
Takeshi Hatanaka, Junya Yamauchi, Masayuki Fujita and Hiroyuki Handa,
"Contemporary Issues and Advances in Human-Robot Collaborations,"
Cyber-Physical-Human Systems: Fundamentals and Applications, A. Annaswamy, P.P. Khargonekar, F. Lamnabhi-Lagarrigue and S.K. Spurgeon (eds.), Wiley-IEEE Press, pp. 365-399, July, 2023
(ISBN: 978-1119857402)
Takeshi Hatanaka, Nikhil Chopra, Junya Yamauchi and Masayuki Fujita,
"A Passivity-Based Approach to Human-Swarm Collaborations and Passivity Analysis of Human Operators,"
Trends in Control and Decision-Making for Human-Robot Collaboration Systems, Y. Wang and F. Zhang (eds.), Springer-Verlag, pp. 325-355, 2017
(DOI: 10.1007/978-3-319-40533-9_14)
国際会議発表論文(査読有)
Marco Omainska, Junya Yamauchi, Armin Lederer, Sandra Hirche and Masayuki Fujita,
Rigid Motion Gaussian Processes with SE(3) Kernel and Application to Visual Pursuit Control,
Proc. of the 62nd IEEE Conference on Decision and Control, pp. 8432-8437, 2023
Junya Yamauchi, Reita Maeno, Tesshu Fujinami, Marco Omainska and Masayuki Fujita
"Visual Safety of Robot Networks based on Control Barrier Functions with Spherical Obstacles,"
62nd SICE Annual Conference, pp. 1090-1095, 2023
Toshiyuki Oshima, Junya Yamauchi, Tatsuya Ibuki, Michio Seto and Takeshi Hatanaka,
"Distributed Shape Learning of Complex Objects Using Gaussian Kernel,"
Proc. The 22nd IFAC World Congress 2023, pp. 2475-2478, July 9-14, 2023
Tesshu Fujinami, Junya Yamauchi, Riku Funada and Masayuki Fujita,
"A Control Barrier Function Approach for Observer-based Visually Safe Pursuit Control with Spherical Obstacles,"
Proc. The 22nd IFAC World Congress 2023, pp. 11609-11614, July 9-14, 2023
Marco Omainska, Junya Yamauchi and Masayuki Fujita,
"Visual Pursuit Control based on Gaussian Processes with Switched Motion Trajectories,"
Proc. The 9th IFAC Symposium on Mechatronic Systems, pp. 208-213, Los Angeles, USA, Sep. 7-9, 2022
(DOI: 10.1016/j.ifacol.2022.10.510)
Makoto Saito, Junya Yamauchi, Tesshu Fujinami, Marco Omainska and Masayuki Fujita,
"Distributed Gaussian Process Based Cooperative Visual Pursuit Control for Drone Networks,"
Proc. The 9th IFAC Symposium on Mechatronic Systems, pp. 141-146, Los Angeles, USA, Sep. 7-9, 2022
(DOI: 10.1016/j.ifacol.2022.10.499)
Tesshu Fujinami, Junya Yamauchi, Marco Omainska and Masayuki Fujita,
"Gaussian Process Based Visual Pursuit Control with Automatic Gain Tuning,"
Proc. 2022 IEEE Conference on Control Technology and Applications, pp. 1293-1299, Trieste, Italy, Aug. 22-25, 2022
(DOI: 10.1109/CCTA49430.2022.9966033)
Kazuki Mizuta, Yasuhide Hirohata, Junya Yamauchi and Masayuki Fujita,
"Safe Persistent Coverage Control with Control Barrier Functions based on Sparse Bayesian Learning,"
Proc. 2022 IEEE Conference on Control Technology and Applications, pp. 311-318, Trieste, Italy, Aug. 22-25, 2022
(DOI: 10.1109/CCTA49430.2022.9966178)
Junya Yamauchi, Marco Omainska, Thomas Beckers, Takeshi Hatanaka, Sandra Hirche and Masayuki Fujita,
"Cooperative Visual Pursuit Control with Learning of Position Dependent Target Motion via Gaussian Process,"
Proc. The 60th IEEE Conference on Decision and Control, pp. 2211-2217, Austin, USA, Dec. 14-17, 2021
(DOI: 10.1109/CDC45484.2021.9683432)
Junya Yamauchi, Tomoki Adachi and Masayuki Fujita,
"Optimization Based 3D Object Monitoring with Robot Safety by Control Barrier Functions on a Sphere,"
Proc. 60th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE), pp. 400-403, Tokyo, Japan, Sep. 8-10, 2021
Takeshi Hatanaka, Kosei Noda, Junya Yamauchi, Koji Sokabe, Keita Shimamoto and Masayuki Fujita,
"Human-Robot Collaboration with Variable Autonomy via Gaussian Process,"
Proc. 3rd IFAC Workshop on Cyber-Physical & Human Systems, pp. 126-133, Beijing, China, Dec. 3-5, 2020
(DOI: 10.1016/j.ifacol.2021.04.091)
Junya Yamauchi, Thomas Beckers, Marco Omainska, Takeshi Hatanaka, Sandra Hirche and Masayuki Fujita,
"Visual Pursuit Control with Target Motion Learning via Gaussian Process,"
Proc. 59th SICE Annual Conference, pp. 1365-1372, Chiang Mai, Thailand, Sep. 23-26, 2020
(DOI: 10.23919/SICE48898.2020.9240221)
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. The 4th IEEE International Conference on Control Technology and Applications (CCTA), pp. 640-647, Montreal, Canada, Aug. 24-26, 2020
(DOI: 10.1109/CCTA41146.2020.9206273)
Riku Funada, Maria Santos, Takuma Gencho, Junya Yamauchi, Masayuki Fujita and Magnus Egerstedt,
"Visual Coverage Maintenance for Quadcopters Using Nonsmooth Barrier Functions,"
Proc. 2020 IEEE International Conference on Robotics and Automation (ICRA), pp. 3255-3261, Paris, France, May 31-Aug. 31, 2020
(DOI: 10.1109/ICRA40945.2020.9196650)
Tatsuya Ibuki, Sean Wilson, Junya Yamauchi, Masayuki Fujita and Magnus Egerstedt,
"Optimization Based Distributed Flocking Control for Multiple Rigid Bodies,"
Proc. 2020 IEEE International Conference on Robotics and Automation (ICRA), WeC11.5, Paris, France, May 31-Aug. 31, 2020
Aditya W. Farras, Junya Yamauchi, Takeshi Hatanaka and Masayuki Fujita,
"Safe Cooperative Control of Human Robotic Network Teaming with Control Barrier Function,"
Proc. The 2020 SICE International Symposium on Control Systems (ISCS), pp. 33-39, Tokushima, Mar. 3-5, 2020
(DOI: 10.23919/SICEISCS48470.2020.9083486)
Gennaro Notomista, Xiaoyi Cai, Junya Yamauchi and Magnus Egerstedt,
"Passivity-Based Decentralized Control of Multi-Robot Systems with Delays Using Control Barrier Functions,"
Proc. 2019 IEEE International Symposium on Multi-Robot and Multi-Agent Systems (MRS), pp. 231-237, New Brunswick, USA, Aug. 22-23, 2019
(DOI: 10.1109/MRS.2019.8901085)
Riku Funada, Maria Santos, Junya Yamauchi, Takeshi Hatanaka, Masayuki Fujita and Magnus Egerstedt,
"Visual Coverage Control for Teams of Quadcopters via Control Barrier Functions,"
Proc. 2019 IEEE International Conference on Robotics and Automation (ICRA), pp. 3010-3016, Montreal, Canada, May. 20-24, 2019
(DOI: 10.1109/ICRA.2019.8793477)
Made W.S. Atman, Kosei Noda, Riku Funada, Junya Yamauchi, Takeshi Hatanaka and Masayuki Fujita,
"On Passivity-Shortage of Human Operators for A Class of Semi-Autonomous Robotic Swarms,"
Proc. 2nd IFAC Conference on Cyber-Physical & Human Systems, pp. 21-27, Florida, USA, Dec. 14-15, 2018
(DOI: 10.1016/j.ifacol.2019.01.008)
Takeshi Hatanaka, Aditya W. Farras, Junya Yamauchi and Masayuki Fujita,
"A Passivity-Based Approach to Distributed Reference Management for Constrained Semi-Autonomous Robotic Swarms with Communication Delays,"
Proc. 57th SICE Annual Conference, pp. 563-566, Nara, Japan, Sep. 11-14, 2018
Made W.S. Atman, Julian Hay, Junya Yamauchi, Takeshi Hatanaka and Masayuki Fujita,
"Two Variations of Passivity-Short-Based Semi-autonomous Robotic Swarms and Their Experimental Analysis,"
Proc. 2018 SICE International Symposium on Control Systems (ISCS), pp. 12-19, Tokyo, Japan, Mar. 9-11, 2018
(DOI: 10.23919/SICEISCS.2018.8330150)
Junya Yamauchi, Kazuhiro Kizaki, Tatsuya Ibuki, Satoshi Satoh, Takeshi Hatanaka and Masayuki Fujita,
"Performance Analysis of Visual Feedback Leader-Following Pose Synchronization with Stochastic Uncertain Leader in Three Dimensions,"
Proc. 1st IEEE Conference on Control Technology and Applications (CCTA), pp. 349-354, Maui, USA, Aug. 27-30, 2017
(DOI: 10.1109/CCTA.2017.8062487)
Junya Yamauchi, Made W.S. Atman, Takeshi Hatanaka, Nikhil Chopra and Masayuki Fujita,
"Passivity-Based Control of Human-Robotic Networks with Inter-Robot Communication Delays and Experimental Verification,"
Proc. 2017 IEEE International Conference on Advanced Intelligent Mechatronics, pp. 628-633, Munich, Germany, July 3-7, 2017
(DOI: 10.1109/AIM.2017.8014087)
Junya Yamauchi, Satoshi Nakano, Satoshi Satoh, Takeshi Hatanaka and Masayuki Fujita,
"Stochastic Performance Analysis of Visual Motion Observer and Experimental Verifications,"
Proc. 10th Asian Control Conference 2015, pp. 797-802, Kota Kinabalu, Malaysia, May 31-June 3, 2015
(DOI: 10.1109/ASCC.2015.7244515)
国内会議発表論文(査読無)
山内淳矢,
"タカの捕食行動から学ぶ非構造的環境での自律制御,"
計測自動制御学会 システム・情報部門 学術講演会(SSI2024), 富山, Nov. 13-15, to be presented, 2024
Marco Omainska, Junya Yamauchi and Masayuki Fujita,
"Visual Pursuit Control based on Gaussian Processes with Switched Motion Trajectories,"
IFAC Mechatronics 2022 Best Student Paper Award, 2022
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, 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, 2020
Hayato Dan, Junya Yamauchi, Takeshi Hatanaka and M. Fujita,
"Control Barrier Function-Based Persistent Coverage with Performance Guarantee and Application to Object Search Scenario,"
Finalists of 2020 IEEE CCTA Outstanding Student Paper Awards, 2020
M. W. S. Atman, K. Noda, R. Funada, Junya Yamauchi, Takeshi Hatanaka and M. Fujita,
"On Passivity-Shortage of Human Operators for A Class of Semi-autonomous Robotic Swarms,"
IFAC CPHS 2018 Young Author Prize, Dec., 2018
山内淳矢, 畑中健志, 藤田政之,
"受動性に基づく人間−ロボティックネットワークによる協調制御と人間受動性の解析,"
SICE 第3回 制御部門マルチシンポジウム学生ポスターセッション優秀発表賞, 2016
Junya Yamauchi, Satoshi Nakano, Satoshi Satoh, Takeshi Hatanaka and Masayuki Fujita,
"Stochastic Performance Analysis of Visual Motion Observer and Experimental Verifications,"
10th Asian Control Conference Best Paper Award, 2015
Junya Yamauchi, Persistent Coverage Control with Barrier Certificates for Safe Exploration, Tampere University, Finland, Aug. 15, 2022
山内淳矢, 視覚に基づく自律システム:学習とネットワーク, 先進システムデザイン工学, 慶應義塾大学, May 4, 2022
Junya Yamauchi, Passivity-Based Control of Human-Robotic Networks with Inter-Robot Communication Delays, Georgia Institute of Technology, USA, Mar. 13, 2019
Junya Yamauchi, Passivity-Based Cooperative Control of Human-Robotic Network and Human Passivity Analysis, University of Stuttgart, Germany, Nov. 21, 2018
Junya Yamauchi, Passivity-Based Cooperative Control of Human-Robotic Network and Human Passivity Analysis, Otto von Guericke University Magdeburg, Germany, Nov. 13, 2018
Junya Yamauchi, Performance Analysis of Cooperative Visual Feedback Control for Uncertain Target Motion Tracking in 3-Dimensional Space, Technical University of Munich, Germany, Sep. 26, 2018
Junya Yamauchi, Passivity-based Cooperative Control of Human-Robotic Network, Ulm University, Germany, June 27, 2017
Junya Yamauchi, Passivity-based Cooperative Control of Human-Robotic Network, Technical University of Munich, Germany, June 22, 2017
Gennaro Notomista, Riku Funada, Junya Yamauchi and Paolo R. Giordano,
"Human-multi-robot Systems: Challenges for Real-world Applications,"
Workshop Co-Organizer, Proc. The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 27, 2022
Takeshi Hatanaka and Junya Yamauchi,
"Control Technologies in Networked Robotics/Mobility towards Social Implementation,"
Invited Session Co-Organizer, Proc. 2022 Conference on Control Technology and Applications (CCTA), Aug. 23, 2022
畑中健志, 山内淳矢,
"ネットワーク化ロボティクス/モビリティの社会貢献に向けて,"
Organized Session Co-Organizer, 第9回計測自動制御学会制御部門マルチシンポジウム, Mar. 10, 2022
東京工業大学 平成30年度海外大学重点校への教員派遣, 受入教員: Prof. Sandra Hirche, Technical University of Munich, 2018
東京工業大学 工学院 統合IoT技術グループ
平成29年度公益財団法人三豊科学技術振興協会国際交流助成, “Passivity-Based Control of Human-Robotic Networks with Inter-Robot Communication Delays and Experimental Verification,” 2017.
平成27年度公益財団法人三豊科学技術振興協会国際交流助成, “Stochastic Performance Analysis of Visual Motion Observer and Experimental Verifications,” 2015.