arXiv subjects

Yuki Nishimura

Publications and source records attributed to Yuki Nishimura.

14 recordsLinked to original sources

arXiv2026

Collision Avoidance Control for a Two-wheeled Vehicle under Stochastic Vibration using an Almost Sure Control Barrier Function

In recent years, many control problems of autonomous mobile robots have been developed. In particular, the robots are required to be safe; that is, they need to be controlled to avoid colliding with people or objects while traveling. In addition, since safety should be ensured even under irregular disturbances, the control for safety is required to be effective for stochastic systems. In this study, we design an almost sure safety-critical control law, which ensures safety with probability one, for a two-wheeled vehicle based on the stochastic control barrier function approach. In the procedure, we also consider a system model using the relative distance measured by a 2D LiDAR. The validity of the proposed control scheme is confirmed by experiments of a collision avoidance problem for a two-wheeled vehicle under vibration.

eess.SY↗

arXiv2026

Stochastic Safety-critical Control Compensating Safety Probability for Marine Vessel Tracking

A marine vessel is a nonlinear system subject to irregular disturbances such as wind and waves, which cause tracking errors between the nominal and actual trajectories. In this study, a nonlinear vessel maneuvering model that includes a tracking controller is formulated and then controlled using a linear approximation around the nominal trajectory. The resulting stochastic linearized system is analyzed using a stochastic zeroing control barrier function (ZCBF). A stochastic safety compensator is designed to ensure probabilistic safety, and its effectiveness is verified through numerical simulations.

eess.SY↗

arXiv2025

Enumeration of Bases in Matroid with Exponentially Large Ground Set

When we deal with a matroid ${\mathcal M}=(U,{\mathcal I})$, we usually assume that it is implicitly given by means of the independence (IND) oracle. Time complexity of many existing algorithms is polynomially bounded with respect to $|U|$ and the running time of the IND-oracle. However, they are not efficient any more when $U$ is exponentially large in some context. In this paper, we propose two algorithms for enumerating matroid bases such that the time complexity does not depend on $|U|$. For some integer $L$, the first algorithm enumerates the first $L$ minimum-weight bases in incremental-polynomial time and the remaining ones in polynomial-delay. To design the algorithm, we assume two oracles other than the IND-oracle: the MinB-oracle that returns a minimum basis and the REL-oracle that returns a relevant element one by one in non-decreasing order of weight. The proposed algorithm is applicable to enumeration of minimum bases of binary matroids from cycle space and cut space, all of which have exponentially large $U$ with respect to a given graph. The highlight in this context is that, to design the REL-oracle for cut space, we develop the first polynomial-delay algorithm that enumerates all relevant cuts of a given graph in non-decreasing order of weight. The second algorithm enumerates all sets of linearly independent $r$-dimensional $r$ vectors over $\mathit{GF}(2)$ in polynomial-delay, which immediately yields a polynomial-delay algorithm %%with respect to the matroid rank $r$ that enumerates all unweighted bases of a binary matroid such that elements are closed under addition.

cs.DS↗

arXiv2025

Terminating Hybrid Tableaus for Ordered Models

Hybrid logic extends modal logic with special propositions called nominals, each of which is true at only one state in a model. This enables us to describe some properties of binary relations, such as irreflexivity and anti-symmetry, which are essential to treat partial orders. We present terminating tableau calculi complete with respect to models whose accessibility relations are strictly partially ordered, unbounded strictly partially ordered, and partially ordered.

math.LO↗

arXiv2025

Safety-Critical Control for Discrete-time Stochastic Systems with Flexible Safe Bounds using Affine and Quadratic Control Barrier Functions

This paper presents a safe controller synthesis of discrete-time stochastic systems using Control Barrier Functions (CBFs). The proposed condition allows the design of a safe controller synthesis that ensures system safety while avoiding the conservative bounds of safe probabilities. In particular, this study focuses on the design of CBFs that provide flexibility in the choice of functions to obtain tighter bounds on the safe probabilities. Numerical examples demonstrate the effectiveness of the approach.

eess.SY↗

arXiv2024

Agent-Knowledge Logic for Alternative Epistemic Logic

Epistemic logic is known as a logic that captures the knowledge and beliefs of agents and has undergone various developments since Hintikka (1962). In this paper, we propose a new logic called agent-knowledge logic by taking the product of individual knowledge structures and the set of relationships among agents. This logic is based on the Facebook logic proposed by Seligman et al. (2011) and the Logic of Hide and Seek Game proposed by Li et al. (2021). We show two main results; one is that this logic can embed the standard epistemic logic, and the other is that there is a proof system of tableau calculus that works in finite time. We also discuss various sentences and inferences that this logic can express.

math.LO↗

arXiv2024

Complete and Terminating Tableau Calculus for Undirected Graph

Hybrid logic is a modal logic with additional operators specifying nominals and is highly expressive. For example, there is no formula corresponding to the irreflexivity of Kripke frames in basic modal logic, but there is in hybrid logic. Irreflexivity is significant in that irreflexive and symmetric Kripke frames can be regarded as undirected graphs reviewed from a graph theoretic point of view. Thus, the study of the hybrid logic with axioms corresponding to irreflexivity and symmetry can help to elucidate the logical properties of undirected graphs. In this paper, we formulate the tableau method of the hybrid logic for undirected graphs. Our main result is to show the completeness theorem and the termination property of the tableau method, which leads us to prove the decidability.

math.LO↗

arXiv2024

Control Barrier Functions for Stochastic Systems and Safety-critical Control Designs

In recent years, the analysis of a control barrier function has received considerable attention because it is helpful for the safety-critical control required in many control application problems. While the extension of the analysis to a stochastic system studied by many researchers, it remains a challenging issue. In this paper, we consider sufficient conditions for reciprocal and zeroing control barrier functions ensuring safety with probability one and design a control law using the functions. Then, we propose another version of a stochastic zeroing control barrier function to evaluate a probability of a sample path staying in a safe set and confirm the convergence of a specific expectation related to the attractiveness of a safe set. We also show a way of deisgning a safety-critical control law based on our stochastic zeroing control barrier function. Finally, we confirm the validity of the proposed control design and the analysis using the control barrier functions via simple examples with their numerical simulation.

math.OC↗

arXiv2023

Monotonicity for Multiobjective Accelerated Proximal Gradient Methods

Accelerated proximal gradient methods, which are also called fast iterative shrinkage-thresholding algorithms (FISTA) are known to be efficient for many applications. Recently, Tanabe et al. proposed an extension of FISTA for multiobjective optimization problems. However, similarly to the single-objective minimization case, the objective functions values may increase in some iterations, and inexact computations of subproblems can also lead to divergence. Motivated by this, here we propose a variant of the FISTA for multiobjective optimization, that imposes some monotonicity of the objective functions values. In the single-objective case, we retrieve the so-called MFISTA, proposed by Beck and Teboulle. We also prove that our method has global convergence with rate $O(1/k^2)$, where $k$ is the number of iterations, and show some numerical advantages in requiring monotonicity.

math.OC↗

arXiv2022

Completeness of Tableau Calculi for Two-Dimensional Hybrid Logics

Hybrid logic is one of the extensions of modal logic. The many-dimensional product of hybrid logic is called hybrid product logic (HPL). We construct a sound and complete tableau calculus for two-dimensional HPL. Also, we made a tableau calculus for hybrid dependent product logic (HdPL), where one dimension depends on the other. In addition, we add a special rule to the tableau calculus for HdPL and show that it is still sound and complete. All of them lack termination, however.

math.LO↗

arXiv2022

Non-Smooth Stochastic Lyapunov Functions With Weak Extension of Viscosity Solutions

This paper proposes a notion of viscosity weak supersolutions to build a bridge between stochastic Lyapunov stability theory and viscosity solution theory. Different from ordinary differential equations, stochastic differential equations can have the origins being stable despite having no smooth stochastic Lyapunov functions (SLFs). The feature naturally requires that the related Lyapunov equations are illustrated via viscosity solution theory, which deals with non-smooth solutions to partial differential equations. This paper claims that stochastic Lyapunov stability theory needs a weak extension of viscosity supersolutions, and the proposed viscosity weak supersolutions describe non-smooth SLFs ensuring a large class of the origins being noisily (asymptotically) stable and (asymptotically) stable in probability. The contribution of the non-smooth SLFs are confirmed by a few examples; especially, they ensure that all the linear-quadratic-Gaussian (LQG) controlled systems have the origins being noisily asymptotically stable for any additive noises.

math.OC↗

arXiv2015

Stabilization by Unbounded-Variation Noises

In this paper, we claim the availability of deterministic noises for stabilization of the origins of dynamical systems, provided that the noises have unbounded variations. To achieve the result, we first consider the system representations based on rough path analysis; then, we provide the notion of asymptotic stability in roughness to analyze the stability for the systems. In the procedure, we also confirm that the system representations include stochastic differential equations; we also found that asymptotic stability in roughness is the same property as uniform almost sure asymptotic stability provided by Bardi and Cesaroni. After the discussion, we confirm that there is a case that deterministic noises are capable of making the origin become asymptotically stable in roughness while stochastic noises do not achieve the same stabilization results.

eess.SY↗

arXiv2015

Unveiling hidden topological phases of a one-dimensional Hadamard quantum walk

Quantum walks, whose dynamics is prescribed by alternating unitary coin and shift operators, possess topological phases akin to those of Floquet topological insulators, driven by a time-periodic field. While there is ample theoretical work on topological phases of quantum walks where the coin operators are spin rotations, in experiments a different coin, the Hadamard operator is often used instead. This was the case in a recent photonic quantum walk experiment, where protected edge states were observed between two bulks whose topological invariants, as calculated by the standard theory, were the same. This hints at a hidden topological invariant in the Hadamard quantum walk. We establish a relation between the Hadamard and the spin rotation operator, which allows us to apply the recently developed theory of topological phases of quantum walks to the one-dimensional Hadamard quantum walk. The topological invariants we derive account for the edge state observed in the experiment, we thus reveal the hidden topological invariant of the one-dimensional Hadamard quantum walk.

cond-mat.mes-hall↗

arXiv2011

Stochastic Asymptotic Stabilizers for Deterministic Input-Affine Systems based on Stochastic Control Lyapunov Functions

In this paper, a stochastic asymptotic stabilization method is proposed for deterministic input-affine control systems, which are randomized by including Gaussian white noises in control inputs. The sufficient condition is derived for the diffucion coefficients so that there exist stochastic control Lyapunov functions for the systems. To illustrate the usefulness of the sufficient condition, the authors propose the stochastic continuous feedback law, which makes the origin of the Brockett integrator become globally asymptotically stable in probability.

math.OC↗