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 March: SICE MSCS 2017
2016 December: The 55th IEEE CDC (More)

Research Interests
Our group is working on:

  • Distributed Optimization/Game for Societal Cyber-Physical Systems (S-CPS)
  • Cognitive Cooperative Control in Human-Cyber-Physical Systems (H-CPS)

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. The targeted applications include distributed energy management systems and HuRonT (human-robotic networks teaming).


Selected Movies (More)
Movie of the Month  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

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, 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, 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, Y. Igarashi, M. Fujita and M. W. Spong, “Passivity-basd Pose Synchronization in Three Dimensions,” IEEE Transactions on Automatic Control, Vol. 57, No. 2, pp. 360-375, 2012 (DOI:10.1109/TAC.2011.2166668)
  • 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)
  • T. Hatanaka, R. Funada, G. Gezer and M. Fujita, “Distributed Visual 3-D Localization of A Human Using Pedestrian Detection Algorithm: A Passivity-based Approach,” Proc. of 6th IFAC Workshop on Distributed Estimation and Control in Networked Systems, IFAC-PapersOnLine, Vol. 49, No. 22, pp. 210-215, 2016 (DOI:10.1016/j.ifacol.2016.10.398)
  • T. Hatanaka, N. Chopra and M. Fujita, “Passivity-based Bilateral Human-Swarm-Interactions for Cooperative Robotic Networks and Human Passivity Analysis,” Proc. of 54th IEEE Conference on Decision and Control, pp. 1033-1039, 2015 (DOI:10.1109/CDC.2015.7402008)