2021

学部ゼミ
院ゼミ
日付担当者発表内容
4/19平野 大地Control of port-Hamiltonian systems with minimal energy supply
4/26川越 貴啓Task-priority control of redundant robotic systems using control lyapunov and control barrier function based quadratic programs
5/10伊藤 匠A Novel Robotic Platform for Aerial Manipulation Using Quadrotors as Rotating Thrust Generators
5/17馬庭 龍一Adaptive Sampling and Online Learning in Multi-Robot Sensor Coverage with Mixture of Gaussian Processes

2021

学部ゼミ

  • Y. Nakamura, "Advanced Robotics: Redundancy and Optimization", Addison-Wesley, 1991

院ゼミ
日付担当者発表内容
4/20持田 峻佑Geometrical Kinematic Solution of Serial Spatial Manipulators Using Screw Theory
4/27大西 祐輝Admittance Control With Unknown Location of Interaction
5/11渡辺 隆之助Timescale Separation in Autonomous Optimization
5/25西本 昂樹Control Barrier Functions for Systems with High Relative Degree
6/1宮間 圭吾LQG Control With Minimum Directed Information: Semidefinite Programming Approach
6/15Kai-Wen TsaiL1 Adaptive Control for Wind Gust Rejection in Quad-Rotor UAV Wind Turbine Inspection
6/22平野 大地Integral Control Barrier Functions for Dynamically Defined Control Laws
6/29川越 貴啓Trajectory Control of a Quadrotor Using a Control Allocation Approach
7/6渡辺 隆之助Risk-Averse Control via CVaR Barrier Functions: Application to Bipedal Robot Locomotion
7/13持田 峻佑A Novel Robust Hexarotor Capable of Static Hovering in Presence of Propeller Failure
7/20大西 祐輝Redundancy resolution under hard joint constraints: a generalized approach to rank updates
7/27西本 昂樹The Invariant Extended Kalman Filter as a Stable Observer
10/5宮間 圭吾Constrained Iterative LQG for Real-Time Chance-Constrained Gaussian Belief Space Planning
10/12Kai-Wen TsaiDisturbance Estimation and Rejection for High-Precision Multirotor Position Control
10/26平野 大地A Passivity Based Sliding Mode Controller for Simple Port-Hamiltonian Systems
11/2川越 貴啓Robust Trajectory Planning for a Multirotor against Disturbance based on Hamilton-Jacobi Reachability Analysis
11/9渡辺 隆之助Linear Predictors for Nonlinear Dynamical Systems: Koopman Operator Meets Model Predictive Control
11/30伊藤 匠Control of Multiple Quad-Copters With a Cable-Suspended Payload Subject to Disturbances
12/14持田 峻佑Safe and High-performance Control Allocation
1/11大西 祐輝Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots
1/18馬庭 龍一Decentralized Merging Control in Traffic Networks: A Control Barrier Function Approach

2020

学部ゼミ

  • S. Boyd and L. Vandenberghe, "Convex Optimization", Cambridge University Press, 2004

院ゼミ
日付担当者発表内容
5/12渡辺 隆之助Risk-Constrained Linear-Quadratic Regulators
5/19持田 峻佑Force-Moment Decoupling and Rotor-Failure Roustness for Star-Shaped Generically-Tilted Multi-Rotors
5/26Lu DupengGeometric Tracking Control of Aerial Robots Based on Centroid Vectoring
6/2大西 祐輝Transverse Linearization for Controlled Mechanical Systems With Several Passive Degrees of Freedom
6/9宮間 圭吾Adaptive Learning Kalman Filter with Gaussian Process
6/16西本 昂樹Adaptive Safety with Control Barrier Functions
6/23Kai-Wen TsaiTilting-rotor Quadcopter for Aggressive Flight Maneuvers Using Differential Flatness Based Flight Controller
7/7渡辺 隆之助Risk-sensitive Linear Control for Systems with Stochastic Parameters
7/14持田 峻佑Omnidirectional Aerial Vehicles With Unidiretional Thrusters: Theory, Optimal Design, and Control
7/28大西 祐輝Riemannian Optimal Model Reduction of Linear Second-Order Systems
8/6Lu DupengRobust H∞ Control for Hovering of a Quadrotor UAV with Slung Load
10/13西本 昂樹Model Predictive Control of Non-linear Systems over Networks with Data Quantization and Packet Loss
10/20宮間 圭吾Laplace ℓ1 Robust Kalman Filter Based on Majorization Minimization
10/27Kai-Wen TsaiTechnical Activities Execution with a TiltRotor UAS employing Explicit Model Predictive Control
11/10平野 大地Control Barrier Function-Based Quadratic Programs Introduce Undesirable Asymptotically Stable Equilibria
11/17川越 貴啓Adaptive Trajectory Tracking for Quadrotor MAVs in Presence of Parameter Uncertainties and External Disturbances
11/24渡辺 隆之助Data Informativity: A New Perspective on Data-Driven Analysis and Control
12/8Lu DupengAutonomous Lift of a Cable-suspended Load by an Unmanned Aerial Robot
12/15持田 峻佑Integral Sliding Mode Fault Tolerant Control Allocation for a Class of Affine Nonlinear System
12/22西本 昂樹Formally Correct Composition of Coordinated Behaviors Using Control Barrier Certificates
1/12大西 祐輝Dynamics Morphing from Regulator to Oscillator on Bipedal Control
1/19平野 大地Safety-Critical Control for Non-affine Nonlinear Systems with Application on Autonomous Vehicle
1/26川越 貴啓Fault Tolerance Analysis of a Hexarotor with Reconfigurable Tilted Rotors
2/2Kai-Wen TsaiControl of an Aerial Manipulator using On-line Parameter Estimator for an Unknown Payload

2019

学部ゼミ

  • J. M. Selig, "Geometric Fundamentals of Robotics", Springer Science+Business Media Inc. 2005

院ゼミ
日付担当者発表内容
4/16渡辺 隆之助Tractable Stochastic Predictive Control for Partially Observable Markov Decision Processes with Time-Joint Chance Constraints
4/26大貫 椋太郎Null-space-based path-following control for cooperative payload transport using multiple rotorcraft UAVs
5/14持田 峻佑Safety-Critical and Constrained Geometric Control Synthesis using Control Lyapunov and Control Barrier Functions for Systems Evolving on Manifolds
5/21江本 周平A Dual Quaternion Linear-Quadratic Optimal Controller for Trajectory Tracking
6/18Lu DupengStability of small-scale UAV helicopters and quadrotors with added payload mass under PID control
6/25平手 奨二Adaptive Sampling and Online Learning in Multi-Robot Sensor Coverage with Mixture of Gaussian Processes
7/16田所 祐一Nonlinear Control of Quadcopters via Approximate Dynamic Programming
10/8渡辺 隆之助Uncertainty-dependent Optimal Control for Robot Control Considering High-order Cost Statistics
10/23持田 峻佑Aerial Grasping based on Shape Adaptive Transformation by HALO: Horizontal Plane Transformable Aerial Robot with Closed-loop Multilinks Structure
11/5江本 周平Constrained Spacecraft Attitude Control on SO(3) Using Fast Nonlinear Model Predictive Control
11/12大貫 椋太郎Controllability Analysis for Multirotor Helicopter Rotor Degradation and Failure
11/19平手 奨二Kernel Interpolation for Scalable Structured Gaussian Processes (KISS-GP)
12/17大西 祐輝Control-Limited Differential Dynamic Programming
1/21田所 祐一Computational Design of Robotic Devices From High-Level Motion Specifications
1/21Lu DupengPropeller Thrust and Drag in Forward Flight
1/28西本 昂樹Constrained Autonomous Precision Landing via Dual Quaternions and Model Predictive Control

2018

学部ゼミ
  • Richard M. Murray, Zexiang Li, S. Shankar Sastry, " Mathematical Introduction to Robotic Manipulation", CRC Press, 2014A
院ゼミ
日付担当者発表内容
4/26田所 祐一An Intrinsic Robust PID Controller on Lie Groups
5/8遠藤 眞覇人Consensus and Formation Control on SE(3) for Switching Topologies
5/29吉岡 弘人Linear vs Nonlinear MPC for Trajectory Tracking Applied to Rotary Wing Micro Aerial Vehicles
6/5渡辺 隆之助Fast Model Predictive Control for Redistributive Lithium-Ion Battery Balancing
6/12大貫 椋太郎Event-triggered distributed MPC for continuous-time nonlinear systems
6/19江本 周平A Nonlinear Force Observer for Quadrotors and Application to Physical Interactive Tasks
6/26平手 奨二Collision Avoidance between Multi-UAV-Systems considering Formation control using MPC
7/10田所 祐一Dual-quaternion backstepping control for a fully-actuated rigid-body
7/24Mustafa SolimanControl of 3-dimensional Snake Robots by Using Redundancy
10/16渡辺 隆之助Aggressive Driving with Model Predictive Path Integral Control
10/23遠藤 眞覇人Robustness of Control Barrier Functions for Safety Critical Control
10/30吉岡 弘人Safe Learning of Quadrotor Dynamics Using Barrier Certificates
11/13平手 奨二Real-Time Distributed Receding Horizon Motion Planning and Control for Mobile Multi-Robot Dynamic Systems
11/20大貫 椋太郎Geometric Control of Multiple Quadrotor UAVs Transporting a Cable-Suspended Rigid Body
12/6江本 周平Global Exponential Attitude Tracking Controls on SO(3)
12/13持田 峻佑Trajectory tracking of Trirotor UAV with Pendulum Load

2017

学部ゼミ
  • Hassan K. Khalil, "Nonlinear Control", Prentice Hall, 2014
院ゼミ
日付担当者発表内容
5/9木村 駿介A Survey of Motion Planning Algorithms from the Perspective of Autonomous UAV Guidance
5/16仲野 聡史Exact Solutions to a Class of Feedback Systems on SO(n)
5/23森田 悠太郎Invariance Control Design for Nonlinear Control Affine Systems under Hard State Constraints
5/23杉森 敦人Extensions of Learning-Based Model Predictive Control for Real-Time Application to a Quadrotor Helicopter
5/30田所 祐一Design, Modeling and Control of Omni-Directional Aerial Robot
6/6松田 錬磨Structural reconfigurability analysis of multirotor UAVs after actuator failures
6/20渡辺 隆之助Chattering-free discrete-time sliding mode control
7/4吉岡 弘人Geometric Tracking Control of a Quadrotor UAV on SE(3)
7/4遠藤 眞覇人Sliding mode leader-following consensus controllers for second-order non-linear multi-agent systems
7/18木村 駿介Viability Control for a Class of Underactuated Systems
7/25仲野 聡史Adding an Integrator for Output Regulation of Systems with Matrix Lie-group States
8/10田所 祐一Exploration of Kinematic Optimal Control on the Lie Group SO(3)
9/26Mustafa SolimanWhole-body Aerial Manipulation by Transformable Multirotor with Two-dimensional Multilinks
10/3森田 悠太郎Trajectory Planning and Control for Plannar Robots with Passive Last Joint
10/17杉森 敦人Safe and Robust Learning Control with Gaussian Processes
11/14松田 錬磨Fundamental Actuation Properties of Multi-rotors Force-Moment Decoupling and Fail-safe Robustness
12/05渡辺 隆之助Nonlinear Analysis and Control of a Reaction-Wheel-Based 3-D Inverted Pendulum
1/23吉岡 弘人Passive Position Control of a Quadrotor With Ground Effect Interaction
1/30木村 駿介Control Barrier Function Based Quadratic Programs for Safety Critical Systems
2/6田所 祐一Design, Modeling, and Geometric Control on SE(3) of a Fully-Actuated Hexarotor for Aerial Interaction

2016

学部ゼミ
  • J.-J. E. Slotine & W. Li, "Applied Nonlinear Control", Prentice-Hall, 1991
院ゼミ
日付担当者発表内容
5/10田所 祐一Dual Connected Bi-Copter with New Wall Trace Locomotion Feasibility That Can Fly at Arbitrary Tilt Angle
5/31木村 駿介Real-Time Trajectory Optimization under Input Constraints for a Flatness-Controlled Laboratory Helicopter
5/31仲野 聡史Exponential Stability of an Attitude Tracking Control System on SO(3) for Large-Angle Rotational Maneuvers
6/21杉森 敦人Decentralized Cooperative Collision Avoidance for Acceleration Constrained Vehicles
6/21松田 錬磨Cooperative Control Reconfiguration in Multiple Quadrotor Systems with Actuator Faults
6/28伊庭 達哉A Lie-B\"acklund Approach to Equivalence and Flatness of Nonlinear Systems
6/28村上 尚人Control of Underactuated Mechanical Systems by the Transverse Function Approach
7/5森田 悠太郎Hovering Quad-Rotor Control: A Comparison of Nonlinear Controllers Using Visual Feedback
7/12仲野 聡史Spacecraft Relative Rotation Tracking without Angular Velocity Measurements
7/26木村 駿介Safe Motion using Viability Kernels
8/2田所 祐一A Maneuverability Analysis of a Novel Hexarotor UAV Concept
8/2伊庭 達哉A condition for dynamic feedback linearization of control-affine nonlinear systems
10/27村上 尚人Discontinuous control of high-order generalized chained systems
10/27森田 悠太郎Sliding mode control for a class of nonlinear systems with application to a wheeled mobile robot
11/15松田 錬磨3D Dynamic Walking with Underactuated Humanoid Robots: A Direct Collocation Framework for Optimizing Hybrid Zero Dynamics
11/15遠藤 眞覇人On Consensus in Multi-agent Systems with Linear High-order Agents
11/22杉森 敦人Predictive Gradient Iterative Learning Control
11/22仲野 聡史Output Synchronization of Systems in Chained Form
11/29木村 駿介An Integrated Path-Planning and Control Approach for Nonholonomic Unicycles Using Switched Local Potentials
12/12田所 祐一Design, Modeling and Control of an Omni-Directional Aerial Vehicle
1/24Stian LaateAdaptive Control of a Quadrotor UAV Transporting a Cable-Suspended Load with Unknown Mass

2015

学部ゼミ
  • Peter Corke, "Robotics, Vision and Control", Springer, 2011
  • Richard M. Murray, Zexiang Li, S. Shankar Sastry, "A Mathematical Introduction to Robotic Manipulation", CRC Press, 1994
院ゼミ
日付担当者発表内容
4/14Thomas Frimann KorenNonlinear Adaptive Control for Quadrotor Flying Vehicle
5/19安田 真大Modeling and global trajectory tracking control for an over-actuated MAV
5/19伊庭 達哉Real-time Jumping Trajectory Generation for a One Legged Jumping Robot
6/2藤田 優稀Robust Control Synthesis of Bilinear Systems with Nonlinear Weights by Sum of Squares Optimization
6/2田所 祐一Backstepping/Nonlinear H_inf Control for Path Tracking of a QuadRotor Unmanned Aerial Vehicle
6/9村上 尚人Movement Control using Zero Dynamics of Two-wheeled Inverted Pendulum Robot
6/16仲野 聡史Passivity-Based Output Synchronization of Networked Euler-Lagrange Systems Subject to Nonholonomic Constraints
6/23木村 駿介Barrier Lyapunov Functions for the contol of output-constrained nonlinear systems
7/14伊庭 達哉Robustness Improvement of a Nonlinear H_infty Controller for Robot Manipulators via Saturation Functions
10/13安田 真大Design and Development of a Free-Floating Hexrotor UAV for 6-DOF Maneuvers
10/27田所 祐一Modeling, Control and Design Optimization for a Fully-actuated Hexarotor Aerial Vehicle with Tilted Propellers
11/17藤田 優稀Dynamic Solution of the HJB Equation and the Optimal Control of Nonlinear Systems
11/17村上 尚人Velocity and Position Control of a Wheeled Inverted Pendulum by Partial Feedback Linearization
11/24木村 駿介Freedom in coordinate transformation for exact linearization and its application to transient behavior improvement
12/1仲野 聡史Full-State Tracking and Internal Dynamics of Nonholonomic Wheeled Mobile Robots
12/8伊庭 達哉Parametrization of the Output with Respect to the Relative Degree
12/8安田 真大Modeling and Control of a Quadrotor UAV with Tilting Propellers
1/19藤田 優稀Two Approximate Solutions to HJI Equation via State Dependent Riccati Equation
1/19田所 祐一Analysys and Synthesis of Multi-Rotor Aerial Vehicles

2014

学部ゼミ

Hassan K. Khalil, "Nonlinear Control", Prentice Hall, 2014

院ゼミ
日付担当者発表内容
6/3木曽勝之Analysis of unconstrained nonlinear MPC schemes with time varying control horizon
6/10藤田優稀Nonlinear Analysis and Control of a Reaction Wheel-based 3D Inverted Pendulum
6/17勝山裕輝Momentum Unloading Excessive Reaction-Wheel System of a Spacecraft
6/24粟井康裕Particle Model Predictive Control for Probability Density Functions
7/8木曽勝之Modeling and Altitude Control of Quad-rotor UAV
7/29安田真大Minimum (h,ϕ)-Entropy Control for Non-Gaussian Stochastic Networked Control Systems and Its Application to a Networked DC Motor Control System
10/7藤田優稀A novel active fault tolerant control design with respect to actuators reliability
10/14勝山裕輝Adaptive Compensation of Gyro Bias in Rigid-Body Attitude Estimation Using a Single Vector Measurement
10/21粟井康裕Iterative B-spline Neural Networks for Stochastic Distribution Control and Its Application in Industrial Process
11/11木曽勝之Jacobian, Manipulability, Condition Number, and Accuracy of Parallel Robots
11/20安田真大Disturbance-decoupling observers for a class of second order Distributed Parameter Systems
11/27藤田優稀Control design for bilinear systems with a guaranteed region of stability : an LMI-based approach
1/8安田真大Nonlinear Unknown Input Observer Design for Nonlinear Systems
1/20Thomas Frimann KorenA dynamic human motion: coordination analysis
1/27藤田優稀Online Adaptive Control for Bilinear Systems