Affiliation

  • The University of Tokyo, Department of Information Physics & Computing
  • Assistant Professor
  • junya_yamauchi _at_ ipc.i.u-tokyo.ac.jp
  • 609, Engineering Bldg. 14, 7-3-1, Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan

Publications

Journal Papers
  1. Riku Funada, Ryuichi Maniwa, Junya Yamauchi, Masayuki Fujita, Sampei Fujita, "Distributed Coverage Maintenance for Quadcopters with Nonsmooth Control Barrier Functions," under preparation, 2022
  2. Yuya Okada, Takeshi Hatanaka, Junya Yamauchi and Masayuki Fujita, "Randomized Learning of Forward Invariant Admissible Sets with Barrier Certificates," SICE Journal of Control, Measurement, and System Integration, under preparation, 2022
  3. 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, submitted, 2022
  4. 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, submitted, 2022
  5. 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, under revision, 2022
  6. Junya Yamauchi, Tomoki Adachi, Kazuhide Nakayama, Takeshi Hatanaka, Masayuki Fujita, "Persistent Coverage Control on a Sphere with Robot Safety Based on Control Barrier Functions," IEEJ Transactions on Electronics, Information and Systems, accepted, 2022
  7. 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, to appear, Dec., 2022
  8. Hayato Dan, Takeshi Hatanaka, Junya Yamauchi 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)
  9. Toshiyuki Murao, Yusuke Koshio, Hiroyuki Kawai, Junya Yamauchi, Takeshi Hatanaka, Masayuki Fujita, "Passivity-Based Cooperative Dynamic Control for Human-Rigid Body Networks," IEEJ Transactions on Electronics, Information and Systems, Vol. 141, No. 11, pp. 1165-1174, Nov., 2021 (DOI: 10.1541/ieejeiss.141.1165)
  10. 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)
  11. Junya Yamauchi, Takuma Gencho, Riku Funada, Takeshi Hatanaka, Masayuki Fujita, "Persistent Visual Coverage Control Ensuring Field of Views’ Overlap with Information Reliability and Energy Management," IEEJ Transactions on Electronics, Information and Systems, Vol. 141, No. 3, pp. 417-425, Mar., 2021 (DOI: 10.1541/ieejeiss.141.417)
  12. Junya Yamauchi, Yuhei Harada, Takeshi Hatanaka, Masayuki Fujita, "Cooperative Pursuit Control Based on Networked Visual Motion Observer in Three Dimensions," Transactions of the Society of Instrument and Control Engineers, Vol. 56, No. 7, pp. 386-393, July, 2020 (DOI: 10.9746/sicetr.56.386)
  13. 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)
  14. Tatsuya Ibuki, S. 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)
  15. 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)
  16. Junya Yamauchi, Mamoru Doi, Tatsuya Ibuki, Takeshi Hatanaka, Masayuki Fujita, "Passivity-based Pose Synchronization under Disturbances in Three Dimensions," Transactions of the Society of Instrument and Control Engineers, Vol. 55, No. 12, pp. 808-815, Dec., 2019 (DOI: 10.9746/sicetr.55.80)
  17. Aditya W. Farras, Takeshi Hatanaka, Tam W. Nguyen, Riku Funada, Junya Yamauchi and M. 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)
  18. Made W.S. Atman, Takeshi Hatanaka, Zhihua Qu, Nikhil Chopra, Junya Yamauchi, M. 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)
  19. Junya Yamauchi, M.W.S. Atman, Takeshi Hatanaka, Masayuki Fujita, "Cooperative Control of Human-robotic Network under Inter-robot Communication Delay: A Passivity Approach," Transactions of the Society of Instrument and Control Engineers, Vol. 53, No. 12, pp. 663-670, 2017 (DOI: 10.9746/sicetr.53.663)
  20. 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)
  21. 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)
  22. Junya Yamauchi, Satoshi Satoh, Takeshi Hatanaka, Masayuki Fujita, "Stochastic Estimation Performance Analysis of Visual Motion Observer," Transactions of the Institute of Systems, Control and Information Engineers, Vol. 27, No. 11, pp. 443-451, 2014 (DOI: 10.5687/iscie.27.443)
International Conference Papers
  1. 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, to be presented, Los Angeles, USA, Sep. 7-9, 2022
  2. 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, to be presented, Los Angeles, USA, Sep. 7-9, 2022
  3. Tesshu Fujinami, Junya Yamauchi, Marco Omainska and Masayuki Fujita, "Gaussian Process Based Visual Pursuit Control with Automatic Gain Tuning," Proc. 2022 Conference on Control Technology and Applications, to be presented, Trieste, Italy, Aug. 22-25, 2022
  4. Kazuki Mizuta, Yasuhide Hirohata, Junya Yamauchi and Masayuki Fujita, "Safe Persistent Coverage Control with Control Barrier Functions based on Sparse Bayesian Learning," Proc. 2022 Conference on Control Technology and Applications, to be presented, Trieste, Italy, Aug. 22-25, 2022
  5. 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)
  6. 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
  7. 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)
  8. 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 Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE), pp. 1365-1372, Chiang, Thailand, Sep. 23-26, 2020 (DOI: 10.23919/SICE48898.2020.9240221)
  9. 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, 2020 (DOI: 10.1109/CCTA41146.2020.9206273)
  10. Riku Funada, Maria Santos, Takuma Gencho, Junya Yamauchi, Masayuki Fujita and Magnus Egerstedt, "Visual Coverage Maintenance for Quadcopters Using Nonsmooth Barrier Functions," Proc. 2020 International Conference on Robotics and Automation (ICRA), pp. 3255-3261, Paris, France, May 31-Aug. 31, 2020 (DOI: 10.1109/ICRA40945.2020.9196650)
  11. Tatsuya Ibuki, Sean Wilson, Junya Yamauchi, Masayuki Fujita and Magnus Egerstedt, "Optimization Based Distributed Flocking Control for Multiple Rigid Bodies," Proc. 2020 International Conference on Robotics and Automation (ICRA), WeC11.5, Paris, France, May 31-Aug. 31, 2020
  12. 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)
  13. 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 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)
  14. 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 International Conference on Robotics and Automation (ICRA), pp. 3010-3016, Montreal, Canada, May. 20-24, 2019 (DOI: 10.1109/ICRA.2019.8793477)
  15. 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)
  16. 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 Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE), pp. 563-566, Nara, Japan, Sep. 11-14, 2018
  17. 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)
  18. 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)
  19. 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)
  20. 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)
  21. 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)
Awards
  1. 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
  2. J. Yamauchi, T. Beckers, M. Omainska, T. Hatanaka, S. Hirche and M. Fujita, "Visual Pursuit Control with Target Motion Learning via Gaussian Process," Finalists of SICE Annual Conference International Award, Sep., 2020
  3. H. Dan, J. Yamauchi, T. 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, Aug., 2020
  4. M. W. S. Atman, K. Noda, R. Funada, J. Yamauchi, T. 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
  5. 10th ASCC 2015 Best Paper Award “Stochastic Performance Analysis of Visual Motion Observer and Experimental Verifications”
Patent
  1. Masayuki Fujita, Takeshi Hatanaka, Junya Yamauchi, Kosei Noda, Keita Shimamoto, Koji Sokabe, Ryokichi Hirata, Masaru Adachi, ROBOT CONTROL SYSTEM, ROBOT SYSTEM, OPERATION SYSTEM, ROBOT CONTROL METHOD, AND ROBOT CONTROL PROGRAM, WIPO Patent Application WIPO Patent Application WO/2021/157104, 2021
Projects
  1. JSPS KAKENHI Grant Number 21K04104 (PI: Takeshi Hatanaka): 半自律型分散協調農場モニタリング制御システムの構築と検証
  2. JSPS KAKENHI Grant Number 20K14761: Real-Time Optimization-Based Autonomous Control of Multi-Robot Systems Under Uncertainty
  3. Comprehensive Academy of Fostering Young Researchers in Tokyo Institute of Technology, New Research Challenge Scholarship, ドローン群による立体構造物の協調点検および点検項目の評価・抽出, 2019
  4. JSPS KAKENHI Grant Number 18H05903: Shared Autonomous Mobile Sensor Network Systems for Persistent Environmental Monitoring
  5. JSPS KAKENHI Grant Number 18H01459 (PI: Masayuki Fujita): 人とロボット群の協調を実現する相互学習型分散制御システムの構築
Seminars
  • Passivity-Based Cooperative Control of Human-Robotic Network and Human Passivity Analysis, University of Stuttgart, Germany, November 21, 2018.
  • Passivity-Based Cooperative Control of Human-Robotic Network and Human Passivity Analysis, Otto von Guericke University Magdeburg, Germany, November 13, 2018.
  • Performance Analysis of Cooperative Visual Feedback Control for Uncertain Target Motion Tracking in 3-Dimensional Space, Technical University of Munich, Germany, September 26, 2018.
  • Passivity-based Cooperative Control of Human-Robotic Network, Ulm University, Germany, June 27, 2017.
  • Passivity-based Cooperative Control of Human-Robotic Network, Technical University of Munich, Germany, June 22, 2017.
Others
  1. G. Notomista, R. Funada, J. Yamauchi and P.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), accepted, 2022
  2. T. Hatanaka and J. Yamauchi, "Control Technologies in Networked Robotics/Mobility towards Social Implementation," Invited Session Co-Organizer, Proc. 2022 Conference on Control Technology and Applications (CCTA), submitted, 2022

Movies

Bio (CV)

  • 2020.4 - 東京大学大学院情報理工学系研究科 助教
  • 2018.4 - 2020.3 東京工業大学工学院システム制御系 助教
  • 2015.4 - 2018.3 東京工業大学大学院理工学研究科機械制御システム専攻 博士後期課程 修了
  • 2013.3 - 2015.3 東京工業大学大学院理工学研究科機械制御システム専攻 修士課程 修了
  • 2013.3 名古屋大学工学部機械・航空工学科電子機械工学コース 卒業