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

情報の取得を包含した制御理論と統計的学習理論の融合数理基盤

Research Project

Project/Area Number 21H04875
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section一般
Review Section Medium-sized Section 60:Information science, computer engineering, and related fields
Research InstitutionKyoto University

Principal Investigator

加嶋 健司  京都大学, 情報学研究科, 准教授 (60401551)

Co-Investigator(Kenkyū-buntansha) 蔡 凱  大阪公立大学, 大学院情報学研究科, 教授 (20728266)
河野 佑  広島大学, 先進理工系科学研究科(工), 准教授 (40743034)
Project Period (FY) 2021-04-05 – 2026-03-31
Project Status Granted (Fiscal Year 2024)
Budget Amount *help
¥41,470,000 (Direct Cost: ¥31,900,000、Indirect Cost: ¥9,570,000)
Fiscal Year 2025: ¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2024: ¥9,620,000 (Direct Cost: ¥7,400,000、Indirect Cost: ¥2,220,000)
Fiscal Year 2023: ¥9,490,000 (Direct Cost: ¥7,300,000、Indirect Cost: ¥2,190,000)
Fiscal Year 2022: ¥9,620,000 (Direct Cost: ¥7,400,000、Indirect Cost: ¥2,220,000)
Fiscal Year 2021: ¥8,190,000 (Direct Cost: ¥6,300,000、Indirect Cost: ¥1,890,000)
Keywords制御理論 / 統計的学習理論 / 機械学習 / 最適化
Outline of Research at the Start

潤沢なデータと機械学習を活用した制御システム設計は,非線形性や環境の変化への柔軟な対応力を有し,今後さらなる適用範囲の拡大が期待されている.一方で, IoT(Internet of Things)に代表される対象の大規模複雑化やプライバシーの問題により,今後は「いかにデータおよびドメイン知識を取得するか」が重要な課題となると予想される.そこで本研究では,情報の取得戦略も包括的に扱うことができる形でシステム制御理論と統計的学習理論を融合した基盤数理を創生し,取得前データの価値の定量化やデータ化が困難な「現場の知見」の系統的な活用のための方法論を確立することを目指す.

Outline of Annual Research Achievements

本研究では機械学習手法に簡単には組み込めないダイナミクス特有のドメイン知識を活用したモデリング手法を開発することを目指している。これに関して、本年度は、定常応答の事前情報を活用するダイナミクスモデリング、離散事象システムにおけるデータ駆動制御、動的システムにおけるエントロピーと最適輸送の関係性の解明と活用、分布情報にもとづくダイナミクスモデリング、などの理論構築を行った。例として、最適輸送に関する結果においては、静的な最適輸送問題に対して広く用いられているSinkhornアルゴリズムを、モデル予測制御という実用的な制御手法に応用し、さらにその安定性を証明することに成功した。この成果は、システム制御分野のトップジャーナルのひとつであるAutomaticaにおいてEditors' Choiceに選出されている。他にも、システム制御分野のトップジャーナルを多く含む9編の査読つき国際論文誌の出版や、計測自動制御学会論文賞を受賞するなど、国内外で広く成果が認められ始めている。また、これらの理論結果について、研究代表者が参画している未病発見に関するムーンショットプロジェクトやモビリティ社会に関する産学連携プロジェクトへの応用展開も平行して検討しており、成果を社会へ還元する一手法となることを期待している。また、Gromov-Wasserstein距離にもとづく最適輸送と確率制御の関連を明らかにする計画外の研究も実施し、一定の成果が得られた。この距離関数は異なるドメイン間の性質的差異を許容する特徴をもつため、本課題にとってもその意義は大きい。

Current Status of Research Progress
Current Status of Research Progress

2: Research has progressed on the whole more than it was originally planned.

Reason

前項で述べたように、予定していた結果を順調に導出し、適切なタイミングで出版をおこなっている。

Strategy for Future Research Activity

本研究では機械学習手法に簡単には組み込めないダイナミクス特有のドメイン知識(以下では非データ型ドメイン知識と呼ぶ)を活用したモデリング手法を開発す る。本年度は、最適輸送理論、最大エントロピー制御に関する研究など多くの個別課題が着実に進んでいるため、継続的に論文投稿をおこなう。応用においては、昨年度まで雇用していたオピニオンダイナミクスを専門とする研究員との共同研究を継続し、ネットワークモデリング手法の有効性を検証する。 一方で、並行してCyber Physical Systemsなどの数理モデルにおいて頻出する微分/差分方程式では捉えづらい論理演算を内包するダイナミク ス(離散事象システ ム)に対するデータ駆動型システム制御理論の構築に関する研究も継続する。具体的には、前年度に世界に先駆けて国際会議で発表したデータ有用性の概念にもとづいて、 データ駆動設計手法を体系化・論文化をすすめる。さらに、前年度に計画外に実施し一定の成果が得られたGromov-Wasserstein距離にもとづく最適輸送と確率制御の関連を明らかにする研究に関して、実質的に最終年度となる本年度に発展可能性を検討し、次の研究課題申請へのステップとなるか検討する予定である。

Report

(4 results)
  • 2023 Annual Research Report
  • 2022 Annual Research Report
  • 2021 Comments on the Screening Results   Annual Research Report
  • Research Products

    (50 results)

All 2024 2023 2022 2021 Other

All Int'l Joint Research (4 results) Journal Article (25 results) (of which Int'l Joint Research: 6 results,  Peer Reviewed: 25 results,  Open Access: 10 results) Presentation (21 results) (of which Int'l Joint Research: 18 results)

  • [Int'l Joint Research] University of Groningen(オランダ)

    • Related Report
      2023 Annual Research Report
  • [Int'l Joint Research] University of Cagliari(イタリア)

    • Related Report
      2022 Annual Research Report
  • [Int'l Joint Research] Xidian University(中国)

    • Related Report
      2022 Annual Research Report
  • [Int'l Joint Research] Xidian University(中国)

    • Related Report
      2021 Annual Research Report
  • [Journal Article] Contraction analysis of discrete-time stochastic systems2024

    • Author(s)
      Yu Kawano, Yohei Hosoe
    • Journal Title

      IEEE Transactions on Automatic Control

      Volume: 69 Issue: 2 Pages: 982-997

    • DOI

      10.1109/tac.2023.3283678

    • Related Report
      2023 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Maximum Entropy Optimal Density Control of Discrete-Time Linear Systems and Schrテカdinger Bridges2024

    • Author(s)
      Kaito Ito, Kenji Kashima
    • Journal Title

      IEEE Transactions on Automatic Control

      Volume: 69 Issue: 3 Pages: 1536-1551

    • DOI

      10.1109/tac.2023.3305319

    • Related Report
      2023 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Krasovskii and shifted passivity based approaches to mixed input/output consensus2023

    • Author(s)
      Yu Kawano, Michele Cucuzzella, Jacquelien M.A. Scherpen
    • Journal Title

      IEEE Control Systems Letters

      Volume: 7 Pages: 1951-1956

    • DOI

      10.1109/lcsys.2023.3282887

    • Related Report
      2023 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Krasovskii and shifted passivity based output consensus2023

    • Author(s)
      Yu Kawano, Michele Cucuzzella, Shuai Feng, Jacquelien M.A. Scherpen
    • Journal Title

      Automatica

      Volume: 155 Pages: 111167-111167

    • DOI

      10.1016/j.automatica.2023.111167

    • Related Report
      2023 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Combinatorial Optimization Approach to Client Scheduling for Federated Learning2023

    • Author(s)
      Tomohito Omori, Kenji Kashima
    • Journal Title

      IEEE Control Systems Letters

      Volume: 7 Pages: 2203-2208

    • DOI

      10.1109/lcsys.2023.3285739

    • Related Report
      2023 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Entropic model predictive optimal transport for underactuated linear systems2023

    • Author(s)
      Kaito Ito, Kenji Kashima
    • Journal Title

      IEEE Control Systems Letters

      Volume: 7 Pages: 2761-2766

    • DOI

      10.1109/lcsys.2023.3288474

    • Related Report
      2023 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Deep reinforcement learning for continuous-time self-triggered control with experimental evaluation2023

    • Author(s)
      Ran Wang, Kenji Kashima
    • Journal Title

      Advanced Robotics

      Volume: 37 Issue: 16 Pages: 1012-1024

    • DOI

      10.1080/01691864.2023.2229886

    • Related Report
      2023 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Transformational Supervisor Localization2023

    • Author(s)
      Thuijsman Sander、Cai Kai、Reniers Michel
    • Journal Title

      IEEE Control Systems Letters

      Volume: 7 Pages: 1682-1687

    • DOI

      10.1109/lcsys.2023.3278248

    • Related Report
      2023 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] A TSP-Based Online Algorithm for Multi-Task Multi-Agent Pickup and Delivery2023

    • Author(s)
      Kudo Fumiya、Cai Kai
    • Journal Title

      IEEE Robotics and Automation Letters

      Volume: 8 Issue: 9 Pages: 5910-5917

    • DOI

      10.1109/lra.2023.3301300

    • Related Report
      2023 Annual Research Report
    • Peer Reviewed
  • [Journal Article] An LMI framework for contraction-based nonlinear control design by derivatives of Gaussian process regression2023

    • Author(s)
      Kawano Yu、Kashima Kenji
    • Journal Title

      Automatica

      Volume: 151 Pages: 110928-110928

    • DOI

      10.1016/j.automatica.2023.110928

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Observability Gramian for Bayesian Inference in Nonlinear Systems With Its Industrial Application2023

    • Author(s)
      Kunwoo Lee、Umezu Yusuke、Konno Kaiki、Kashima Kenji
    • Journal Title

      IEEE Control Systems Letters

      Volume: 7 Pages: 871-876

    • DOI

      10.1109/lcsys.2022.3227452

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Entropic model predictive optimal transport over dynamical systems2023

    • Author(s)
      Ito Kaito、Kashima Kenji
    • Journal Title

      Automatica

      Volume: 152 Pages: 110980-110980

    • DOI

      10.1016/j.automatica.2023.110980

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Sparse control node scheduling in networked systems based on approximate controllability metrics2022

    • Author(s)
      Ikeda Takuya、Kashima Kenji
    • Journal Title

      IEEE Transactions on Control of Network Systems

      Volume: - Issue: 3 Pages: 1-1

    • DOI

      10.1109/tcns.2022.3154666

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Optimal Secret Protections in Discrete-Event Systems2022

    • Author(s)
      Ma Ziyue、Cai Kai
    • Journal Title

      IEEE Transactions on Automatic Control

      Volume: 67 Issue: 6 Pages: 2816-2828

    • DOI

      10.1109/tac.2021.3091438

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Consistent reduction in discrete-event systems2022

    • Author(s)
      Cai Kai、Giua Alessandro、Seatzu Carla
    • Journal Title

      Automatica

      Volume: 142 Pages: 110333-110333

    • DOI

      10.1016/j.automatica.2022.110333

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Transformational Nonblocking Verification2022

    • Author(s)
      Thuijsman Sander、Reniers Michel、Cai Kai
    • Journal Title

      IFAC-PapersOnLine

      Volume: 55 Issue: 28 Pages: 256-263

    • DOI

      10.1016/j.ifacol.2022.10.351

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Efficient Safe Control via Deep Reinforcement Learning and Supervisory Control ? Case Study on Multi-Robot Warehouse Automation2022

    • Author(s)
      Konishi Masahiro、Sasaki Tomotake、Cai Kai
    • Journal Title

      IFAC-PapersOnLine

      Volume: 55 Issue: 28 Pages: 16-21

    • DOI

      10.1016/j.ifacol.2022.10.318

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Controller Reduction for Nonlinear Systems by Generalized Differential Balancing2022

    • Author(s)
      Kawano Yu
    • Journal Title

      IEEE Transactions on Automatic Control

      Volume: 67 Issue: 11 Pages: 5856-5871

    • DOI

      10.1109/tac.2021.3124980

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Bayesian Differential Privacy for Linear Dynamical Systems2022

    • Author(s)
      Sugiura Genki、Ito Kaito、Kashima Kenji
    • Journal Title

      IEEE Control Systems Letters

      Volume: 6 Pages: 896-901

    • DOI

      10.1109/lcsys.2021.3087096

    • NAID

      40022585991

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] On Resilient Supervisory Control Against Indefinite Actuator Attacks in Discrete-Event Systems2022

    • Author(s)
      Ma Ziyue、Cai Kai
    • Journal Title

      IEEE Control Systems Letters

      Volume: 6 Pages: 2942-2947

    • DOI

      10.1109/lcsys.2022.3168926

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Kullback-Leibler control for discrete-time nonlinear systems on continuous spaces2022

    • Author(s)
      Kaito Ito, Kenji Kashima
    • Journal Title

      SICE Journal of Control, Measurement, and System Integration

      Volume: Vol. 15 Issue: 2 Pages: 119-129

    • DOI

      10.1080/18824889.2022.2095827

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Multiple sparsity constrained control node scheduling with application to rebalancing of mobility networks2021

    • Author(s)
      Ikeda Takuya、Sakurama Kazunori、Kashima Kenji
    • Journal Title

      IEEE Transactions on Automatic Control

      Volume: - Issue: 8 Pages: 1-1

    • DOI

      10.1109/tac.2021.3115441

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Deep Reinforcement Learning for Continuous-time Self-triggered Control2021

    • Author(s)
      Wang Ran、Takeuchi Ibuki、Kashima Kenji
    • Journal Title

      IFAC-PapersOnLine

      Volume: 54 Issue: 14 Pages: 203-208

    • DOI

      10.1016/j.ifacol.2021.10.353

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Structural controllability and time-to-control of directed scale-free networks with minimum number of driver nodes2021

    • Author(s)
      Imae Takanobu、Cai Kai
    • Journal Title

      Systems & Control Letters

      Volume: 156 Pages: 105025-105025

    • DOI

      10.1016/j.sysconle.2021.105025

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Usability aware secret protection with minimum cost2021

    • Author(s)
      Matsui Shoma、Cai Kai
    • Journal Title

      Nonlinear Analysis: Hybrid Systems

      Volume: 43 Pages: 101111-101111

    • DOI

      10.1016/j.nahs.2021.101111

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed
  • [Presentation] Observability Gramian for Bayesian Inference in Nonlinear Systems With Its Industrial Application2023

    • Author(s)
      Kunwoo Lee, Yusuke Umezu, Kaiki Konno, Kenji Kashima
    • Organizer
      The 2023 American Control Conference
    • Related Report
      2023 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Sparse Network Identification for Consensus Discrete-Time Systems2023

    • Author(s)
      Takuya Ikeda, Kenji Kashima
    • Organizer
      22nd IFAC World Congress
    • Related Report
      2023 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Resilience Evaluation of Entropy Regularized Logistic Networks with Probabilistic Cost2023

    • Author(s)
      Koshi Oishi, Yota Hashizume, Tomohiko Jimbo, Hirotaka Kaji, Kenji Kashima
    • Organizer
      22nd IFAC World Congress
    • Related Report
      2023 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Reinforcement Learning for Discrete-Time Static Noisy State Feedback Control with Reward Estimation2023

    • Author(s)
      Ran Wang, Ye Tian, Kenji Kashima
    • Organizer
      22nd IFAC World Congress
    • Related Report
      2023 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Maximum Entropy Density Control of Discrete-time Linear Systems with Quadratic State Cost2023

    • Author(s)
      Kaito Ito, Kenji Kashima
    • Organizer
      22nd IFAC World Congress
    • Related Report
      2023 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Cost Robustness of Maximum Entropy Optimal Controller on Euclidean Input Space2023

    • Author(s)
      Yota Hashizume, Kenji Kashima
    • Organizer
      2023 International Symposium on Nonlinear Theory and its Applications (NOLTA2023)
    • Related Report
      2023 Annual Research Report
    • Int'l Joint Research
  • [Presentation] On the System Identifiability from Probability Distribution Data of Linear Systems Driven by Gaussian Noise2023

    • Author(s)
      Kohei Morimoto, Kenji Kashima
    • Organizer
      2023 International Symposium on Nonlinear Theory and its Applications (NOLTA2023)
    • Related Report
      2023 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Data-Informativity for Data-Driven Supervisory Control of Discrete-Event Systems2023

    • Author(s)
      Tomofumi Ohtsuka, Kai Cai, Kenji Kashima
    • Organizer
      62nd IEEE Conference on Decision and Control (CDC2023)
    • Related Report
      2023 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Combinatorial Optimization Approach to Client Scheduling for Federated Learning2023

    • Author(s)
      Tomohito Omori, Kenji Kashima
    • Organizer
      62nd IEEE Conference on Decision and Control (CDC2023)
    • Related Report
      2023 Annual Research Report
    • Int'l Joint Research
  • [Presentation] DIfferentiable Sparse Optimal Control2023

    • Author(s)
      Ryotaro Shima, Ryuta Moriyasu, Sho Kawaguchi, Kenji Kashima
    • Organizer
      62nd IEEE Conference on Decision and Control (CDC2023)
    • Related Report
      2023 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Entropic model predictive optimal transport for underactuated linear systems2023

    • Author(s)
      Kaito Ito, Kenji Kashima
    • Organizer
      62nd IEEE Conference on Decision and Control (CDC2023)
    • Related Report
      2023 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Online supervisory control for safe and adaptive human-in-the-loop warehouse logistic automation2023

    • Author(s)
      Makoto Kimura, Manato Fujimoto, Kai Cai
    • Organizer
      第66回自動制御連合講演会
    • Related Report
      2023 Annual Research Report
  • [Presentation] Smart nudge system using autonomous robots2023

    • Author(s)
      Makoto Kimura, Manato Fujimoto, Kai Cai
    • Organizer
      第66回自動制御連合講演会
    • Related Report
      2023 Annual Research Report
  • [Presentation] Optimal secret protection in discrete event systems with dynamic clearance levels2023

    • Author(s)
      Ziyue Ma, Kai Cai
    • Organizer
      22nd IFAC World Congress
    • Related Report
      2023 Annual Research Report
    • Int'l Joint Research
  • [Presentation] グラフニューラルネットワークを用いた非均質合意ネットワークのラベル推定2023

    • Author(s)
      後藤直紀, 加嶋健司
    • Organizer
      第66回自動制御連合講演会
    • Related Report
      2023 Annual Research Report
  • [Presentation] Sinkhorn MPC: Model predictive optimal transport over dynamical systems2022

    • Author(s)
      Ito Kaito、Kashima Kenji
    • Organizer
      2022 American Control Conference
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Secret Protections in Discrete-Event Systems with Minimum Costs2022

    • Author(s)
      Jiang Jiagang、Ma Ziyue、Cai Kai
    • Organizer
      2022 American Control Conference
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Optimal time-varying topology for network systems2022

    • Author(s)
      Ikeda Takuya、Kashima Kenji
    • Organizer
      13th Asian Control Conference
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Matrix Pontryagin principle approach to controllability metrics maximization under sparsity constraints2022

    • Author(s)
      Tomofumi Ohtsuka, Takuya Ikeda, Kenji Kashima
    • Organizer
      24th International Symposium on Mathematical Theory of Networks and Systems
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Maximum entropy optimal density control of discrete-time linear systems2022

    • Author(s)
      Kaito Ito, Kenji Kashima
    • Organizer
      24th International Symposium on Mathematical Theory of Networks and Systems
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Continuous-time MPC of an engine airpath system based on machine-learning assisted modeling2022

    • Author(s)
      Yusuke Sakaguchi, Ryuta Moriyasu, Masayuki Kusunoki, Kenji Kashima
    • Organizer
      10th IFAC Symposium on Robust Control Design
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research

URL: 

Published: 2021-04-28   Modified: 2025-04-17  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi