School of Engineering
Department of Systems and Control Engineering
Tokyo Institute of Technology



Associate Professor
Takeshi Hatanaka
Web Page


Masayuki Fujita
Web Page

News (More)
2017 Sep.: Our paper is accepted to Transactions of the SICE
2017 July: Our paper is accepted to CDC 2017
2017 June: Our paper is accepted to SICE 2017 (More)
2017 May: Our papers are accepted to CCTA 2017 (More)

Research Interests
Our group is working on:

  • Distributed Energy Management for Energy Efficient Society (Hatanaka Lab)
  • Cooperative Control of Robotic Network (Fujita Lab)

We are developing distributed optimization and learning algorithms for a variety of Cyber-Physical Systems including buildings, data centers, microgrids and robotic networks to realize energy-efficient and resilient society. In particular, we study in an effort to work out fundamental principles to render highly-networked control systems totally optimal and/or robust state via distributed decision-makings.

Selected Movies (More)
Movie of the Month 1 Movie of the Month 2
Movie of the Month 3 Voronoi-based Coverage Control
See Professor F. Bullo’s
Slides (More)
Attitude Synchronization Attitude Synchronization in Robotarium
See Dean M.W. Spong’s
See Professor M. Egerstedt’s


Books/Book Chapters/Invited Articles

T. Hatanaka, N. Chopra, J. Yamauchi, M. Doi, Y. Kawai and M. Fujita, “A Passivity-Based System Design of Semi-autonomous Cooperative Robotic Swarm,” ASME DSC Magazine, Vol. 5, No. 2, pp. 14-18, 2017 (our photo was selected as the front cover of the issue)
book T. Hatanaka, N. Chopra, M. Fujita and M. W. Spong, “Passivity-Based Control and Estimation in Networked Robotics,” Communications and Control Engineering Series, Springer-Verlag, May, 2015 (Book Announcement in CSM, Book Review in Automatica)
T. Hatanaka, N. Chopra, J. Yamauchi and M. Fujita, “A Passivity-Based Approach to Human-Swarm Collaborations and Passivity Analysis of Human Operators,” Trends in Control and Decision-Making for Human-Robot Collaboration Systems, Y. Wang and F. Zhang (eds.), Springer-Verlag, pp. 325-355, Feb., 2017
book_jp T. Hatanaka, “Distributed Optimization,” Control of Multi-agent Systems,
S. Azuma and M. Nagahara (eds.), Corona Publishing Co., Aug., 2015 (in Japanese)

Selected Recent Publications (More)

  • T. Hatanaka, N. Chopra, T. Ishizaki and N. Li, “Passivity-Based Distributed Optimization with Communication Delays Using PI Consensus Algorithm,” arXiv:1609.04666 (submitted to IEEE Transactions on Automatic Control), 2017

  • T. Hatanaka, Y. Wasa, R. Funada, A. G. Charalambides and M. Fujita, “A Payoff-based Learning Approach to Cooperative Environmental Monitoring for PTZ Visual Sensor Networks,” IEEE Transactions on Automatic Control, Vol. 61, No. 3, pp. 709-724, 2016 (DOI:10.1109/TAC.2015.2450611)
  • T. Hatanaka and M. Fujita, “Cooperative Estimation of Averaged 3D Moving Target Object Poses via Networked Visual Motion Observers,” IEEE Transactions on Automatic Control, Vol. 58, No. 3, pp. 623-638, 2013 (DOI:10.1109/TAC.2012.2215732)
  • T. Hatanaka, X. Zhang, W. Shi, M. Zhu and N. Li, “Physics-Integrated Hierarchical/Distributed HVAC Optimization for Multiple Buildings with Robustness against Time Delays, Proc. of 56th IEEE Conference on Decision and Control, to be presented, 2017

  • T. Hatanaka, X. Zhang, W. Shi, M. Zhu and N. Li, “An Integrated Design of Optimization and Physical Dynamics for Energy Efficient Buildings: A Passivity Approach,” Proc. of 1st IEEE Conference on Control Technology and Applications, to be presented, 2017 (Downloadable at arXiv:1701.05577)

  • T. Nguyen, M. Doi, T. Hatanaka, E. Garone, M. Fujita, “A Passivity-Based Approach for Constrained Mobile Robotic Networks,” Proc. of 55th IEEE Conference on Decision and Control, pp. 4352-4357, 2016 (DOI: 10.1109/CDC.2016.7798929)