Cyber-Physical & Human Systems
Department of Systems and Control Engineering
Tokyo Institute of Technology



Professor & Head
Masayuki Fujita
Web Page


Assistant Professor
Junya Yamauchi
Web Page


Visiting Associate Professor
Takeshi Hatanaka
Web Page

News (More)
2019 May: ICRA 2019
2019 Apr.: Seminar by Prof. Kameshwar Poolla (More)
2019 Mar.: JSME Miura Award and Tokyo Tech Hakuseikai Best Presentation Award (More)
2019 Mar.: Collaborations with Robotarium (More)
2019 Mar.: Seminar by Prof. Oliver Sawodny (More)
2019 Mar.: SICE Control Division Conference Award at MSCS 2019 (More)
2019 Mar.: Video uploaded from JST CREST Public Symposium
2018 Dec.: Highlighted in Bode lecture by Prof. M.W. Spong (More)
2018 Dec.: Finalist of Young Author Prize for IFAC CPHS (More)

Research Interests
Our group is working on cooperative control and shared autonomy in human-robotic network teaming, and learning-based control and safe autonomy from pixels to torques (Fujita-Yamauchi Lab) and distributed energy management for energy efficient society (Hatanaka Lab). We are developing distributed optimization and learning algorithms for a variety of Cyber-Physical & Human Systems (Ref. [1, Sec. 4.7], [2]). 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)
Human-Robotic Network Teaming From Pixels to Torques
Attitude Synchronization in Robotarium Collaborations with Robotarium
See Professor M. Egerstedt’s
Robotarium, Youtube (27:51)
Attitude Synchronization Voronoi-based Coverage Control
See Prof. M.W. Spong’s Bode lecture (More) See Professor F. Bullo’s
Slide 1, Slide 2 (More)

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 Dynamic Systems and Control Magazine, Vol. 5, No. 2, also in Mechanical Engineering, Vol. 139, No. 6, pp. 14-18, 2017 (DOI:10.1115/1.2017–Jun–6) (our photo is selected as the front cover of the issue)
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 (Bookshelf in CSM)
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)

Videos from Selected Recent Publications (More)

R. Funada, M. Santos, J. Yamauchi, T. Hatanaka, M. Fujita and M. Egerstedt, “Visual Coverage Control for Teams of Quadcopters via Control Barrier Functions,” Proc. of 2019 International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 20-24, to be presented, 2019
M.W.S. Atman, T. Hatanaka, Z. Qu, N. Chopra, J. Yamauchi and M. Fujita, “Motion Synchronization for Semi-autonomous Robotic Swarm with a Passivity-short Human Operator,” Focused Section on Human-Centered Robotics, International Journal of Intelligent Robotics and Applications, Vol. 2, No. 2, pp. 235–251, June, 2018 (DOI: 10.1007/s41315–018–0056–8)