arXiv subjects

Takeshi Hatanaka

Publications and source records attributed to Takeshi Hatanaka.

At least 19 recordsLinked to original sources

arXiv2026

Contract-Based Decomposition of Temporal Logic Specifications for Networked Systems under Arbitrary Partitions

Computational complexity is an inherent limitation of formal synthesis for networked systems, and decomposing the global specification into local ones relaxes this limitation at the cost of conservatism. Since the granularity of the partition governs this trade-off, it is reasonable to treat the partition as a design variable, which calls for local specifications that remain correct for every partition. To this end, this paper gives each agent a local specification, written as an assume-guarantee contract that the agent can establish from local information. We first derive a necessary and sufficient condition for these contracts to decompose the global specification under a given partition. Building on this, we then present a condition under which the decomposition is correct for every partition, so that the partition becomes a free design variable. For linear dynamics and signal temporal logic formulas with affine predicates, we further synthesize a controller for each coalition by a tube-based approach. Finally, simulations on a network of input-coupled tanks show how the choice of partition trades computational cost against conservatism.

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arXiv2026

Passivity-based Semi-autonomous Rotational Motion Navigation for Rigid-body Networks: Stability and Human Passivity Analysis

This paper presents a novel passivity-based semi-autonomous attitude control framework, with a particular focus on attitude kinematics defined on the special orthogonal group $SO(3)$. While human-robot interaction facilitates the successful execution of complex tasks, ensuring stability of human-in-the-loop systems on the $SO(3)$ manifold remains a largely unsolved challenge. We first propose a new control architecture in which a multi-robot system preserves invariance of the average information fed back to the human operator through so-called stealthy control, and the human intervention is mediated through a virtual leader, which is coupled with the robots via a passivity-based attitude synchronization law. We then rigorously prove closed-loop stability of the proposed human-in-the-loop system under the assumption that the human behaves as a passive system. To support this analysis, simulation studies are conducted to identify the human operator as a dynamical system, and to examine passivity properties of the identified model.

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arXiv2026

Stealthy Coverage Control for Human-enabled Real-Time 3D Reconstruction

In this paper, we propose a novel semi-autonomous image sampling strategy, called stealthy coverage control, for human-enabled 3D structure reconstruction. The present mission involves a fundamental problem: while the number of images required to accurately reconstruct a 3D model depends on the structural complexity of the target scene to be reconstructed, it is not realistic to assume prior knowledge of the spatially non-uniform structural complexity. We approach this issue by leveraging human flexible reasoning and situational recognition capabilities. Specifically, we design a semi-autonomous system that leaves identification of regions that need more images and navigation of the drones to such regions to a human operator. To this end, we first present a way to reflect the human intention in autonomous coverage control. Subsequently, in order to avoid operational conflicts between manual control and autonomous coverage control, we develop the stealthy coverage control that decouples the drone motion for efficient image sampling from navigation by the human. Simulation studies on a Unity/ROS2-based simulator demonstrate that the present semi-autonomous system outperforms the one without human interventions in the sense of the reconstructed model quality.

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arXiv2025

Coverage-Recon: Coordinated Multi-Drone Image Sampling with Online Map Feedback

This article addresses collaborative 3D map reconstruction using multiple drones. Achieving high-quality reconstruction requires capturing images of keypoints within the target scene from diverse viewing angles, and coverage control offers an effective framework to meet this requirement. Meanwhile, recent advances in real-time 3D reconstruction algorithms make it possible to render an evolving map during flight, enabling immediate feedback to guide drone motion. Building on this, we present Coverage-Recon, a novel coordinated image sampling algorithm that integrates online map feedback to improve reconstruction quality on-the-fly. In Coverage-Recon, the coordinated motion of drones is governed by a Quadratic Programming (QP)-based angle-aware coverage controller, which ensures multi-viewpoint image capture while enforcing safety constraints. The captured images are processed in real time by the NeuralRecon algorithm to generate an evolving 3D mesh. Mesh changes across the scene are interpreted as indicators of reconstruction uncertainty and serve as feedback to update the importance index of the coverage control as the map evolves. The effectiveness of Coverage-Recon is validated through simulation and experiments, demonstrating both qualitatively and quantitatively that incorporating online map feedback yields more complete and accurate 3D reconstructions than conventional methods. Project page: https://htnk-lab.github.io/coverage-recon/

cs.RO↗

arXiv2025

Constraint-Driven Multi-USV Coverage Path Generation for Aquatic Environmental Monitoring

In this article, we address aquatic environmental monitoring using a fleet of unmanned surface vehicles (USVs). Specifically, we develop an online path generator that provides either circular or elliptic paths based on the real-time feedback so that the USVs efficiently sample the sensor data over given aquatic environment. To this end, we begin by formulating a novel online path generation problem for a group of Dubins vehicles in the form of cost minimization based on the formulation of persistent coverage control. We then transform the cost minimization into a constraint-based specification so that a prescribed performance level is certified. An online coverage path generator is then designed based on the so-called constraint-based control in order to meet the performance certificate together with additional constraints inherent in the parameters that specify the paths. It is also shown there that the present constraint-based approach allows one to drastically reduce the computational complexity stemming from combinations of binary variables corresponding to the turning directions of the USVs. The present coverage path generator is finally demonstrated through simulations and experiments on an original testbed of multiple USVs.

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arXiv2024

Distributed Shape Learning of Complex Objects Using Gaussian Kernel

This paper addresses distributed learning of a complex object for multiple networked robots based on distributed optimization and kernel-based support vector machine. In order to overcome a fundamental limitation of polynomial kernels assumed in our antecessor, we employ Gaussian kernel as a kernel function for classification. The Gaussian kernel prohibits the robots to share the function through a finite number of equality constraints due to its infinite dimensionality of the function space. We thus reformulate the optimization problem assuming that the target function space is identified with the space spanned by the bases associated with not the data but a finite number of grid points. The above relaxation is shown to allow the robots to share the function by a finite number of equality constraints. We finally demonstrate the present approach through numerical simulations.

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arXiv2024

Convergence Rate Bounds for the Mirror Descent Method: IQCs, Popov Criterion and Bregman Divergence

This paper presents a comprehensive convergence analysis for the mirror descent (MD) method, a widely used algorithm in convex optimization. The key feature of this algorithm is that it provides a generalization of classical gradient-based methods via the use of generalized distance-like functions, which are formulated using the Bregman divergence. Establishing convergence rate bounds for this algorithm is in general a non-trivial problem due to the lack of monotonicity properties in the composite nonlinearities involved. In this paper, we show that the Bregman divergence from the optimal solution, which is commonly used as a Lyapunov function for this algorithm, is a special case of Lyapunov functions that follow when the Popov criterion is applied to an appropriate reformulation of the MD dynamics. This is then used as a basis to construct an integral quadratic constraint (IQC) framework through which convergence rate bounds with reduced conservatism can be deduced. We also illustrate via examples that the convergence rate bounds derived can be tight.

math.OC↗

arXiv2024

Net-Zero Energy House-oriented Linear Programming for the Sizing Problem of Photovoltaic Panels and Batteries

The global drive towards carbon neutrality has led to a significant increase in the number of power plants based on renewable energy sources (RES). Concurrently, numerous households are adopting RES to generate their own energy, aiming to decrease both electricity costs and carbon footprints. To support these users, many papers have been devoted to developing optimal investment strategies for residential energy systems. However, there is still a significant gap as these studies often neglect important aspects like carbon neutrality. For this reason, in this paper, we explore the concept of net-zero energy houses (ZEHs) -- houses designed to have an annual net energy consumption around zero -- by presenting a constrained optimization problem to find the optimal number of photovoltaic panels and the optimal size of the battery system for home integration. Solving this constrained optimization problem is difficult due to its nonconvex constraints. Nevertheless, by applying a series of transformations, we reveal that it is possible to find an equivalent linear programming (LP) problem which is computationally tractable. The attainment of ZEH can be tackled by introducing a single constraint in the optimization problem. Additionally, we propose a sharing economy approach to the investment problem, offering a strategy that could potentially reduce investment costs and facilitate the attainment of ZEH more efficiently. Finally, we apply the proposed frameworks to a neighborhood in Japan as a case study, demonstrating the potential for long-term ZEH attainment. The results show that, under the right incentive, users can achieve ZEH, reduce their electricity costs and have a minimal impact on the main grid.

math.OC↗

arXiv2024

Angle-Aware Coverage with Camera Rotational Motion Control

This paper presents a novel control strategy for drone networks to improve the quality of 3D structures reconstructed from aerial images by drones. Unlike the existing coverage control strategies for this purpose, our proposed approach simultaneously controls both the camera orientation and drone translational motion, enabling more comprehensive perspectives and enhancing the map's overall quality. Subsequently, we present a novel problem formulation, including a new performance function to evaluate the drone positions and camera orientations. We then design a QP-based controller with a control barrier-like function for a constraint on the decay rate of the objective function. The present problem formulation poses a new challenge, requiring significantly greater computational efforts than the case involving only translational motion control. We approach this issue technologically, namely by introducing JAX, utilizing just-in-time (JIT) compilation and Graphical Processing Unit (GPU) acceleration. We finally conduct extensive verifications through simulation in ROS (Robot Operating System) and show the real-time feasibility of the controller and the superiority of the present controller to the conventional method.

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arXiv2023

Stochastic Optimal Investment Strategy for Net-Zero Energy Houses

In this research, we investigate Net-Zero Energy Houses (ZEH), which harness regionally produced electricity from photovoltaic(PV) panels and fuel cells, integrating them into a local power system in pursuit of achieving carbon neutrality. This paper examines the impact of electricity sharing among users who are working towards attaining ZEH status through the integration of PV panels and battery storage devices. We propose two potential scenarios: the first assumes that all users individually invest in storage devices, hence minimizing their costs on a local level without energy sharing; the second envisions cost minimization through the collective use of a shared storage device, managed by a central manager. These two scenarios are formulated as a stochastic convex optimization and a cooperative game, respectively. To tackle the stochastic challenges posed by multiple random variables, we apply the Monte Carlo sample average approximation (SAA) to the problems. To demonstrate the practical applicability of these models, we implement the proposed scenarios in the Jono neighborhood in Kitakyushu, Japan.

econ.GN↗

arXiv2022

3D Map Reconstruction of an Orchard using an Angle-Aware Covering Control Strategy

In the last years, unmanned aerial vehicles are becoming a reality in the context of precision agriculture, mainly for monitoring, patrolling and remote sensing tasks, but also for 3D map reconstruction. In this paper, we present an innovative approach where a fleet of unmanned aerial vehicles is exploited to perform remote sensing tasks over an apple orchard for reconstructing a 3D map of the field, formulating the covering control problem to combine the position of a monitoring target and the viewing angle. Moreover, the objective function of the controller is defined by an importance index, which has been computed from a multi-spectral map of the field, obtained by a preliminary flight, using a semantic interpretation scheme based on a convolutional neural network. This objective function is then updated according to the history of the past coverage states, thus allowing the drones to take situation-adaptive actions. The effectiveness of the proposed covering control strategy has been validated through simulations on a Robot Operating System.

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arXiv2021

Automatic Generation of Ice Hockey Defensive Motion via Coverage Control and Control Barrier Functions

A successful defensive strategy in ice hockey games is often designed empirically by an experienced professional. The majority of previous work on automating the strategy focuses on analyzing spatial data to decide the most optimal formation and action but cannot generalize the system to real games with real-time capabilities. We propose a novel control logic for generating real-time ice hockey defensive motion based on a control barrier function (CBF) and coverage control to extend our antecessors' logic that succeeds in duplicating ideal formations for specific scenes. To this end, we first present an ellipsoidal CBF to overcome the drawbacks of the existing line-based CBF of our antecessors. We also tune and add a novel density function to reflect real specifications more precisely than the previous work. The control logic is then demonstrated through simulations with offensive motion in real games. It is confirmed that the present logic generates valid defensive movements without specification to these specific scenes. We further exemplify that the logic generates proper motion under ice hockey's man-to-man and zone defense strategies and their intermediate strategies by tuning the logic. This would contribute to reducing the efforts of the practitioners to educate ice hockey players.

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arXiv2021

Passivity-based Analysis and Design for Population Dynamics with Conformity Biases

This paper addresses mechanisms for boundedly rational decision makers in discrete choice problem. First, we introduce two mathematical models of population dynamics with conformity biases. We next analyze the models in terms of delta-passivity, and show that the conformity biases work to break passivity of decision makers. Based on the passivity perspective, we propose mechanisms so as to induce decision makers to a desired population state. Furthermore, we analyze a convergence property of designed mechanisms, and present parameter conditions to guarantee stable inducements.

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arXiv2020

Instant MPC for linear systems and dissipativity-based stability analysis

This letter is devoted to the concept of ``instant'' model predictive control (iMPC) for linear systems. An optimization problem is formulated to express the finite-time constrained optimal regulation control, like conventional MPC. Then, iMPC determines the control action based on the optimization process rather than the optimizer, unlike MPC. The iMPC concept is realized by a continuous-time dynamic algorithm of solving the optimization; the primal-dual gradient algorithm is directly implemented as a dynamic controller. On the basis of the dissipativity evaluation of the algorithm, the stability of the control system is analyzed. Finally, a numerical experiment is performed in order to demonstrate that iMPC emulates MPC and to show its less computational burden.

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arXiv2020

Smooth Dynamics for Distributed Constrained Optimization with Heterogeneous Delays

This work investigates the distributed constrained optimization problem under inter-agent communication delays from the perspective of passivity. First, we propose a continuous-time algorithm for distributed constrained optimization with general convex objective functions. The asymptotic stability under general convexity is guaranteed by the phase lead compensation. The inequality constraints are handled by adopting a projection-free generalized Lagrangian, whose primal-dual gradient dynamics preserves passivity and smoothness, enabling the application of the LaSalle's invariance principle in the presence of delays. Then, we incorporate the scattering transformation into the proposed algorithm to enhance the robustness against unknown and heterogeneous communication delays. Finally, a numerical example of a matching problem is provided to illustrate the results.

math.OC↗

arXiv2018

Passivity-Based Generalization of Primal-Dual Dynamics for Non-Strictly Convex Cost Functions

In this paper, we revisit primal-dual dynamics for convex optimization and present a generalization of the dynamics based on the concept of passivity. It is then proved that supplying a stable zero to one of the integrators in the dynamics allows one to eliminate the assumption of strict convexity on the cost function based on the passivity paradigm together with the invariance principle for Caratheodory systems. We then show that the present algorithm is also a generalization of existing augmented Lagrangian-based primal-dual dynamics, and discuss the benefit of the present generalization in terms of noise reduction and convergence speed.

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arXiv2017

A Passivity-Based Distributed Reference Governor for Constrained Robotic Networks

This paper focuses on a passivity-based distributed reference governor (RG) applied to a pre-stabilized mobile robotic network. The novelty of this paper lies in the method used to solve the RG problem, where a passivity-based distributed optimization scheme is proposed. In particular, the gradient descent method minimizes the global objective function while the dual ascent method maximizes the Hamiltonian. To make the agents converge to the agreed optimal solution, a proportional-integral consensus estimator is used. This paper proves the convergence of the state estimates of the RG to the optimal solution through passivity arguments, considering the physical system static. Then, the effectiveness of the scheme considering the dynamics of the physical system is demonstrated through simulations and experiments.

cs.MA↗

arXiv2017

An Integrated Design of Optimization and Physical Dynamics for Energy Efficient Buildings: A Passivity Approach

In this paper, we address energy management for heating, ventilation, and air-conditioning (HVAC) systems in buildings, and present a novel combined optimization and control approach. We first formulate a thermal dynamics and an associated optimization problem. An optimization dynamics is then designed based on a standard primal-dual algorithm, and its strict passivity is proved. We then design a local controller and prove that the physical dynamics with the controller is ensured to be passivity-short. Based on these passivity results, we interconnect the optimization and physical dynamics, and prove convergence of the room temperatures to the optimal ones defined for unmeasurable disturbances. Finally, we demonstrate the present algorithms through simulation.

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