• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

Mutual Learning Distributed Control Systems toward Human-Robotic Network Collaborations

Research Project

Project/Area Number 18H01459
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Review Section Basic Section 21040:Control and system engineering-related
Research InstitutionThe University of Tokyo (2020)
Tokyo Institute of Technology (2018-2019)

Principal Investigator

Fujita Masayuki  東京大学, 大学院情報理工学系研究科, 教授 (90181370)

Co-Investigator(Kenkyū-buntansha) 村尾 俊幸  金沢工業大学, 工学部, 准教授 (00447038)
畑中 健志  東京工業大学, 工学院, 准教授 (10452012)
伊吹 竜也  明治大学, 理工学部, 専任講師 (30725023)
山内 淳矢  東京大学, 大学院情報理工学系研究科, 助教 (60824563)
河合 宏之  金沢工業大学, 工学部, 教授 (70410298)
河合 康典  石川工業高等専門学校, 電気工学科, 准教授 (90413765)
Project Period (FY) 2018-04-01 – 2021-03-31
Project Status Completed (Fiscal Year 2020)
Budget Amount *help
¥16,250,000 (Direct Cost: ¥12,500,000、Indirect Cost: ¥3,750,000)
Fiscal Year 2020: ¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2019: ¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2018: ¥7,930,000 (Direct Cost: ¥6,100,000、Indirect Cost: ¥1,830,000)
Keywords制御工学 / 人とロボット群の協調 / 協調制御 / 学習制御 / 学修制御
Outline of Final Research Achievements

In this project, we have (1) developed a distributed control algorithm with mutual learning, (2) extended the algorithm to three dimensions and considered the dynamics, and (3) constructed an experimental system using multi-robots in order to construct a distributed control system with mutual learning that can realize cooperation between humans and robot groups. For (1), the control algorithm was derived and the theoretical analysis was conducted as planned. The results were accepted by international conferences and journals, and the results were awarded some prizes. For (2), we proposed a control algorithm that takes into account the motion and dynamics of a mobile robot in three-dimensional space. In (3), we constructed a multi-robot control experiment system and succeeded in verifying the algorithm by teleoperation experiments in cooperation with overseas collaborators.

Academic Significance and Societal Importance of the Research Achievements

人間と機械の協働という課題は,サイバーフィジカルシステム(Cyber-Physical Systems)に人間を陽に考慮したサイバーフィジカル & ヒューマンシステム(CPHS)として新たな学術分野を築いている.本研究は人間とロボット群の協調制御を考えており,CPHSの初期の研究として基礎構築に貢献した.また,急速に成長している機械学習分野との融合も図っており,CPHS分野の今後の一つの発展先を示した点に大きな学術的意義がある.また,CPHSは自動運転やロボットが浸透しつつある現代社会において必要不可欠な基礎技術であり,その基礎理論構築に貢献した点に本研究の社会的意義がある.

Report

(4 results)
  • 2020 Annual Research Report   Final Research Report ( PDF )
  • 2019 Annual Research Report
  • 2018 Annual Research Report
  • Research Products

    (44 results)

All 2021 2020 2019 2018 Other

All Int'l Joint Research (4 results) Journal Article (9 results) (of which Int'l Joint Research: 5 results,  Peer Reviewed: 9 results) Presentation (30 results) (of which Int'l Joint Research: 23 results) Book (1 results)

  • [Int'l Joint Research] Georgia Institute of Technology/California Institute of Technology(米国)

    • Related Report
      2020 Annual Research Report
  • [Int'l Joint Research] Technical University of Munich(ドイツ)

    • Related Report
      2020 Annual Research Report
  • [Int'l Joint Research] Georgia Institute of Technology(米国)

    • Related Report
      2019 Annual Research Report
  • [Int'l Joint Research] Georgia Institute of Technology(米国)

    • Related Report
      2018 Annual Research Report
  • [Journal Article] Persistent Visual Coverage Control Ensuring Field of Views' Overlap with Information Reliability and Energy Management2021

    • Author(s)
      Yamauchi Junya、Gencho Takuma、Funada Riku、Hatanaka Takeshi、Fujita Masayuki
    • Journal Title

      IEEJ Transactions on Electronics, Information and Systems

      Volume: 141 Issue: 3 Pages: 417-425

    • DOI

      10.1541/ieejeiss.141.417

    • NAID

      130007993376

    • ISSN
      0385-4221, 1348-8155
    • Year and Date
      2021-03-01
    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A Geometric Method of Hoverability Analysis for Multirotor UAVs with Upward Oriented Rotors2021

    • Author(s)
      S. Mochida, R. Matsuda, T. Ibuki, M. Sampei
    • Journal Title

      IEEE Transactions on Robotics

      Volume: -

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Optimization-Based Distributed Flocking Control for Multiple Rigid Bodies2020

    • Author(s)
      Tatsuya Ibuki, Sean Wilson, Junya Yamauchi, Masayuki Fujita, Magnus Egerstedt
    • Journal Title

      IEEE Robotics and Automation Letters

      Volume: 5 Issue: 2 Pages: 1891-1898

    • DOI

      10.1109/lra.2020.2969950

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Distributed Collision-Free Motion Coordination on a Sphere: A Conic Control Barrier Function Approach2020

    • Author(s)
      Ibuki Tatsuya、Wilson Sean、Ames Aaron D.、Egerstedt Magnus
    • Journal Title

      IEEE Control Systems Letters

      Volume: 4 Issue: 4 Pages: 976-981

    • DOI

      10.1109/lcsys.2020.2997952

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Coordination of Robot Teams Over Long Distances From Georgia Tech to Tokyo Tech and Back; An 11,000km Multi-Robot Experiment2020

    • Author(s)
      R. Funada, X. Cai, G. Notomista, M.W.S. Atman, J. Yamauchi, M. Fujita and M. Egerstedt
    • Journal Title

      IEEE Control Systems Magazine

      Volume: 40 Issue: 4 Pages: 53-79

    • DOI

      10.1109/mcs.2020.2990515

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Passivity-based Pose Control for a Ground Vehicle through Drone's Visual Feedback Control2019

    • Author(s)
      Murao Toshiyuki、Kuroda Mamoru、Kawai Hiroyuki
    • Journal Title

      IEEJ Transactions on Electronics, Information and Systems

      Volume: 139 Issue: 11 Pages: 1316-1324

    • DOI

      10.1541/ieejeiss.139.1316

    • NAID

      130007740601

    • ISSN
      0385-4221, 1348-8155
    • Year and Date
      2019-11-01
    • Related Report
      2019 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Distributed Dynamic Reference Governor for Constrained Semi-Autonomous Robotic Swarms with Communication Delays and Experimental Verification2019

    • Author(s)
      FARRAS Aditya Wildan、HATANAKA Takeshi、NGUYEN Tam W.、FUNADA Riku、YAMAUCHI Junya、FUJITA Masayuki
    • Journal Title

      SICE Journal of Control, Measurement, and System Integration

      Volume: 12 Issue: 6 Pages: 237-245

    • DOI

      10.9746/jcmsi.12.237

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Passivity-based Pose Synchronization under Disturbances in Three Dimensions2019

    • Author(s)
      山内淳矢,土井護,伊吹竜也,畑中健志,藤田政之
    • Journal Title

      Transactions of the Society of Instrument and Control Engineers

      Volume: 55 Issue: 12 Pages: 808-815

    • DOI

      10.9746/sicetr.55.808

    • NAID

      130007761138

    • ISSN
      0453-4654, 1883-8189
    • Related Report
      2019 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Motion synchronization for semi-autonomous robotic swarm with a passivity-short human operator2018

    • Author(s)
      Atman Made Widhi Surya、Hatanaka Takeshi、Qu Zhihua、Chopra Nikhil、Yamauchi Junya、Fujita Masayuki
    • Journal Title

      International Journal of Intelligent Robotics and Applications

      Volume: 2 Issue: 2 Pages: 1-17

    • DOI

      10.1007/s41315-018-0056-8

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Presentation] Safe Control for Euler-Lagrange Systems with Control Barrier Functions2021

    • Author(s)
      A.W. Farras and T. Hatanaka
    • Organizer
      SICE International Symposium on Control Systems
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Development and Design Optimization of 2Y Hexarotor with Robustness against Rotor Failure2020

    • Author(s)
      S. Mochida, R. Matsuda, T. Ibuki, M. Sampei
    • Organizer
      The 21st World Congress of the International Federation of Automatic Control
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 三輪型全方向移動ロボットに対する Slotine and Li の手法に基づく安定化制御2020

    • Author(s)
      小塩祐亮, 村尾俊幸, 河合宏之
    • Organizer
      2020 年度電気・情報関係学会北陸支部連合大会
    • Related Report
      2020 Annual Research Report
  • [Presentation] Visual Pursuit Control with Target Motion Learning via Gaussian Process2020

    • Author(s)
      Junya Yamauchi, Thomas Beckers, Marco Omainska, Takeshi Hatanaka, Sandra Hirche and Masayuki Fujita
    • Organizer
      59th Annual Conference of the Society of Instrument and Control Engineers of Japan
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Iterative Learning Control for FES-Cycling With Antagonistic Biarticular Muscles2020

    • Author(s)
      M. Nagumo, H. Kawai, Y. Kushima, T. Murao, Y. Kawai, and M. Kishitani
    • Organizer
      The 46th Annual Conference of the IEEE Industrial Electronics Society
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Tracking Control of FES Alternate Knee Bending and Stretching Trike in Consideration of Running Velocity2020

    • Author(s)
      D. Horiki, H. Kawai, Y. Kushima, T. Murao, Y. Kawai, and M. Kishitani
    • Organizer
      The 46th Annual Conference of the IEEE Industrial Electronics Society
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 車速を考慮した機能的電気刺激による下肢交互屈伸運動に関する研究2020

    • Author(s)
      堀木大地, 久島康嘉, 河合宏之, 村尾俊幸, 河合康典, 岸谷都
    • Organizer
      第63回自動制御連合講演会
    • Related Report
      2020 Annual Research Report
  • [Presentation] Human-Robot Collaboration with Variable Autonomy via Gaussian Process2020

    • Author(s)
      Takeshi Hatanaka, Kosei Noda, Junya Yamauchi, Koji Sokabe, Keita Shimamoto and Masayuki Fujita
    • Organizer
      The 3rd IFAC Workshop on Cyber-Physical & Human Systems
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Bilateral Tele-Rehabilitation Control System Using Electrical Stimulation for Therapist and Patient2020

    • Author(s)
      Yasunori Kawai, Hiroyuki Kawai, Takanori Miyoshi
    • Organizer
      The 3rd IFAC Conference on Cyber-Physical & Human-Systems (CPHS2020)
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Velocity Tracking Control of Recumbent Trike with Functional Electrical Stimulation2020

    • Author(s)
      Y. Kushima, Y. Araki, H. Kawai, T. Murao, Y. Kawai, and M. Kishitani
    • Organizer
      The 3rd IFAC Conference on Cyber-Physical & Human Systems
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Safe Cooperative Control of Human Robotic Network Teaming with Control Barrier Function2020

    • Author(s)
      A.W. Farras, J. Yamauchi, T. Hatanaka and M. Fujita
    • Organizer
      the 2020 SICE International Symposium on Control Systems
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] ガウス過程回帰による環境値学習に基づく分散適応型被覆制御2020

    • Author(s)
      平手奨二,伊吹竜也,三平満司
    • Organizer
      第7回制御部門マルチシンポジウム予稿集
    • Related Report
      2019 Annual Research Report
  • [Presentation] Passivity-Based Decentralized Control of Multi-Robot Systems with Delays Using Control Barrier Functions2019

    • Author(s)
      G. Notomista, X. Cai, J. Yamauchi and M. Egerstedt
    • Organizer
      2019 International Symposium on Multi-Robot and Multi-Agent Systems
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Bilateral Tele-Rehabilitation System using Electrical Stimulation applying Modulated Time-Domain Passivity Control2019

    • Author(s)
      Y. Kawai, K. Shibano, H. Kawai, T. Miyoshi, and M. Fujita
    • Organizer
      the 8th IFAC Symposium on Mechatronic Systems and the 11th IFAC Symposium on Nonlinear Control Systems
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Pose Control for Rigid Body Motion with an Input-to-state Safe Control Barrier Function2019

    • Author(s)
      T. Murao, H. Kawai and M. Fujita
    • Organizer
      the 8th IFAC Symposium on Mechatronic Systems and the 11th IFAC Symposium on Nonlinear Control Systems
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] マルチロータUAVによるサスペンド式貨物運搬制御2019

    • Author(s)
      伊吹竜也,櫻井元貴,遠藤眞覇人,三平満司
    • Organizer
      第6回制御部門マルチシンポジウム
    • Related Report
      2018 Annual Research Report
  • [Presentation] ガウス過程回帰による未知モデル学習に基づく全駆動ヘキサロータのロバスト制御2019

    • Author(s)
      吉岡弘人,杉森敦人,伊吹竜也,三平満司
    • Organizer
      第6回制御部門マルチシンポジウム
    • Related Report
      2018 Annual Research Report
  • [Presentation] Visual Coverage Control for Teams of Quadcopters via Control Barrier Functions2019

    • Author(s)
      R. Funada, M. Santos, J. Yamauchi, T. Hatanaka, M. Fujita and M. Egerstedt
    • Organizer
      2019 International Conference on Robotics and Automation (ICRA)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Collision-free Formation Control for Quadrotor Networks Based on Distributed Quadratic Programs2019

    • Author(s)
      M. Endo, T. Ibuki, and M. Sampei
    • Organizer
      The 2019 American Control Conference
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Written Communication System based on Multilateral Teleoperation using Scattering Matrix with Gains2018

    • Author(s)
      Y. Kawai and T. Miyoshi
    • Organizer
      The 2018 IEEE International Conference on Intelligence and Safety for Robotics(ISR)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] A passivity-based approach to distributed reference management for constrained semi-autonomous robotic swarms with communication delays2018

    • Author(s)
      T. Hatanaka, A. W. Farras, J. Yamauchi and M. Fujita
    • Organizer
      SICE Annual Conference 2018
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Bilateral Tele-Rehabilitation System for Human Lower Limb based on Scattering Matrix with New Gains2018

    • Author(s)
      Y. Kawai, K. Honda, H. Kawai, and T. Miyoshi
    • Organizer
      The SICE Annual Conference 2018
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Passivity Shortage-based Pose Synchronization in a Sampled Data Setting2018

    • Author(s)
      S. Hirate, T. Ibuki, and M. Sampei
    • Organizer
      The SICE Annual Conference 2018
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] A Control Method for a 3DOF Bi-articular Manipulator towards Robotic Rehabilitation2018

    • Author(s)
      K. Kobayashi, T. Murao, H. Kawai and R. Suzuki
    • Organizer
      The 2018 IEEE 7th Global Conference on Consumer Electronics
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Passivity-based Visual Feedback Control for an Endpoint Closed-loop System with a Movable Camera2018

    • Author(s)
      M. Kuroda, T. Murao and H. Kawai
    • Organizer
      The 44th Annual Conference of the IEEE Industrial Electronics Society
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Vision-navigated Bilateral Control for Master-slave Teleoperation System2018

    • Author(s)
      Y. Sugimoto, T. Murao, Y. Kawai and H. Kawai
    • Organizer
      The 44th Annual Conference of the IEEE Industrial Electronics Society
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 車速を考慮したFESトライクシステムの構築と実験検証2018

    • Author(s)
      荒木雄大郎, 久島康嘉, 村尾俊幸, 河合康典, 河合宏之
    • Organizer
      SICE システム・情報部門 学術講演会 2018
    • Related Report
      2018 Annual Research Report
  • [Presentation] 改良型スキャッタリング変換を用いた下肢のテレリハビリテーションの制御2018

    • Author(s)
      河合康典,本多健也,河合宏之
    • Organizer
      計測自動制御学会 システム・情報部門学術講演会2018
    • Related Report
      2018 Annual Research Report
  • [Presentation] On Passivity-Shortage of Human Operators for A Class of Semi-autonomous Robotic Swarms2018

    • Author(s)
      M. W. S. Atman, K. Noda, R. Funada, J. Yamauchi, T. Hatanaka and M. Fujita
    • Organizer
      2nd IFAC Conference on Cyber-Physical & Human Systems
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Discrete-time 3-D Attitude Synchronization Based on Passivity Shortage2018

    • Author(s)
      T. Ibuki, T. Hatanaka and Z. Qu
    • Organizer
      57th IEEE Conference on Decision and Control
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Book] 機械学習のための関数解析入門2021

    • Author(s)
      瀬戸 道生、伊吹 竜也、畑中 健志
    • Total Pages
      168
    • Publisher
      内田老鶴圃
    • ISBN
      9784753601714
    • Related Report
      2020 Annual Research Report

URL: 

Published: 2018-04-23   Modified: 2022-01-27  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi