Hatanaka Lab
Cyber-Physical Systems Field
Department of Systems and Control Engineering
School of Engineering
Institute of Science Tokyo
Research Interest
Our group is working on cyber-physical-social/human systems, interconnected systems of mutually interacting cyber, physical and human components, for a variety of large-scale systems. In particular, we study in an effort to work out fundamental principles to coordinate human/society and highly-networked control systems to ensure optimality and robustness via distributed decision-makings. The main target application fields include smart agriculture, smart sky/ocean, and energy management. Beyond theory-oriented work, we are also addressing social implementation of networked robotics and human-robot collaborations, and plant phenotyping and control in plant factories through interdisciplinary collaborative research projects.
Cyber-Physical-Social Systems
Cyber-Physical-Human Systems
Networked Robotics
PV for Robot Zoo Aqua
PV for Robot Zoo Sky
Multi-drone persistent coverage control over a farm
first experiment of coverage control over a vineyard
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Promotion Videos for SSS Research & Education Fields are here.
News
12/2025
T. Abe won 68th JACC Outstanding Presentation Award
12/2025
N. Ito won 68th JACC Outstanding Presentation Award
09/2025
Hanif completed WISE-SSS and had a Representative Speech
in the ceremony
09/2025
1 PhD, 2 Master, and 2 Bachelor students completed their degrees
09/2025
Y. Toyomoto won Dept. SCE Outstanding Presentation Award
09/2025
T. Abe won Dept. SCE Outstanding Presentation Award
09/2025
Our chapter has been published in Springer Book
08/2025
Our paper won Outstanding Paper Award from SICE
06/2025
E. Abe won Best Seed Award at SSS Matching Workshop
03/2025
Y. Okada completed WISE-SSS Program
03/2025
T. Oshima won JSME Miura Award
03/2025
M. Suenaga won JSME Miura Award
03/2025
1 PhD and 3 master students completed their degrees
03/2025
E. Abe won SICE MSCS Outstanding Poster Award
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03/2025
Commemorative Lecture for SICE Control Division Pioneer Technology Award
2025 Oct. New members (1 master, 2 bachelor and 1 visiting student) have joined
2025 Oct. Exhibition at J-AGRI
2025 Oct. Our paper with Toyota Central Lab has been published in IFAC Journal of Systems and Control
2025 Oct. Graduate Major in Super Smart Society
2025 Dec. T. Abe and N. Ito won Outstanding Presentation Awards from 68th JACC
2026 Feb. 3rd BrIAS Conference on Smart Agriculture
2026 Oct. DARS 2026
S. Otsuki, N. Hatta, M. Hanif, R. Funada, K. Nakashima, and T. Hatanaka
Hierarchical Vessel Safe Operation in A Port through CBF, MPC and RRT-like Spatiotemporal Path Planning
Nonlinear and Constrained Control - Applications, Synergies, Challenges and Opportunities
E. Garone, I.V. Kolmanovsky, and T.W. Nguyen (eds)
Lecture Notes in Control and Information Sciences, Springer Nature, pp. 407-441, 2025
T. Hatanaka, J. Yamauchi, M. Fujita, and H. Handa
Contemporary Issues and Advances in Human-Robot Collaborations
Cyber-Physical-Human Systems: Fundamentals and Applications
A. Annaswamy, P. P. Khargonekar, F. Lamnabhi-Lagarrigue and S. K. Spurgeon (eds.)
Wiley-IEEE Press, pp. 365-400, July, 2023
T. Hatanaka, Y. Wasa and K. Uchida (eds.)
Economically-enabled Energy Management: Interplay between Control Engineering and Economics
Springer Nature, Apr., 2020
(ISBN: 978-981-15-3575-8)
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
T. Ibuki, J. Ymauchi, T. Hatanaka, and M. Seto,
Basic Functional Analysis for Machine Learning
Uchida Rokakuho Publishing Co. Ltd., 2023 (in Japanese)
M. Seto, T. Ibuki, and T. Hatanaka
Basic Functional Analysis for Machine Learning
Uchida Rokakuho Publishing Co. Ltd., 2021 (in Japanese)
Y. Nakamura (eds.), H. Chiba, J. Satsuma, N. Yamashita, T. Hatanaka, H. Shimotaira, and K. Takeyasu
The World of Applied Mathematics & Physicss
Nippon Hyoron sha Co., LTD, 2019 (in Japanese)
S. Azuma, M. Nagahara, H. Ishii, N. Hayashi, K. Sakurama and T. Hatanaka
Control of Multi-agent Systems
Systems Control Engineering Series Vol. 22,
Corona Publishing Co., LTD, 2015 (in Japanese)
Books/Book Chapters
J.M. Maestre, F.L. Rodriguez, P. Chanfreut, and T. Hatanaka
On Feedback Design for Systems with Agents in the Loop
Special section on: Safety, Robustness, and Effectiveness in Human-Machine Teaming
IEEE Control Systems Letters, to appear, 2025
（10.1109/LCSYS.2025.3586635）
Y. Toyomoto, T. Oshima, K. Oishi, J.M. Maestre, and T. Hatanaka
Constraint-driven Multi-USV Coverage Path Generation for Aquatic Environmental Monitoring
IEEE Transactions on Control Systems Technology, to appear as a regular paper, 2025.
（10.1109/TCST.2025.3572776）
M. Li, K. Laib, T. Hatanaka, and I. Lestas
Convergence Rate Bounds for the Mirror Descent Method: IQCs, the Popov Criterion and Bregman Divergence
Automatica, vol. 171, 111973, 2025.
(10.1016/j.automatica.2024.111973)
A.D. Carenero, T. Tanaka, M. Li, T. Hatanaka, Y. Wasa, K. Hirata,Y. Ushifusa, and T. Ida
ZEH-oriented Linear Programming for the Sizing Problem of Photovoltaic Panels and Batteries
IEEE Access, vol. 12, pp. 80429-80441, 2024.
(10.1109/ACCESS.2024.3410369)
T. Hatanaka, T. Mochizuki, T. Sumino, J.M. Maestre, and N. Chopra
Human Modeling and Passivity Analysis for Semi-autonomous Multi-robot Navigation in Three Dimensions
IEEE Open Journal of Control Systems, Special section on Modeling, Control, and Learning Approaches for Human-Robot Interaction Systems, vol. 3, pp. 45-57, 2024.
(10.1109/OJCSYS.2023.3343598)
J. G. Martin, M. Hanif, T. Hatanaka, J.M. Maestre, and E.F. Camacho
Predictive Receding-Horizon Multi-Robot Task Allocation Applied to the Mapping of Direct Normal Irradiance in a Thermosolar Power Plant
Solar Energy, vol. 263, 111911, 2023
(10.1016/j.solener.2023.111911)
S. Yamashita, K. Irifune, T. Hatanaka, Y. Wasa, K. Hirata, and K. Uchida
Passivity-based Analysis and Design for Population Dynamics with Conformity Biases
Automatica, vol. 158, 111300, 2023
(10.1016/j.automatica.2023.111300)
P. Chanfreut, J.M. Maestre, T. Hatanaka, and E.F. Camacho
Fast Clustering for Multi-agent Model Predictive Control
IEEE Transactions on Control of Network Systems, vol. 9, no. 3, pp. 1544-1555, 2022
（10.1109/TCNS.2022.3158745）
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T. Shimizu, S. Yamashita, T. Hatanaka, K. Uto, M. Mammarella, and F. Dabbene
Angle-aware Coverage Control for 3D Map Reconstruction with Drone Networks
IEEE Control Systems Letters, vol. 6, pp. 1831-1836, 2022
(10.1109/LCSYS.2021.3135466)
M. Li, S. Yamashita, T. Hatanaka, and G. Chesi
Smooth Dynamics for Distributed Constrained Optimization with Heterogeneous Delays
IEEE Control Systems Letters, vol. 4, no. 3, pp. 626-631, 2020
(DOI: 10.1109/LCSYS.2020.2989372)
T. Miyano, S. Yamashita, T. Hatanaka, K. Shibata, T. Jimbo and M. Fujita
Continuous-time Optimization Dynamics Mirroring ADMM Architecture and Passivity-Based Robustification against Delays
IEEE Transactions on Control of Network Systems, vol. 7, no. 3, pp. 1296-1307, 2020
(DOI: 10.1109/TCNS.2020.2972590)
T. Hatanaka, R. Funada and M. Fujita
Visual Surveillance of Human Activities via Gradient-based Coverage Control on Matrix Manifolds
IEEE Transactions on Control Systems Technology, vol. 28, no. 6, pp. 2220-2234, 2020
(DOI: 10.1109/TCST.2019.2935063)
T. Hatanaka, T. Ikawa and N. Li
A Passivity-Based Design of Cyber-Physical Building HVAC Energy Management Systems Integrating Optimization and Physical Dynamics
Economically-enabled Energy Management: Interplay between Control Engineering and Economics, T. Hatanaka, Y. Wasa and K. Uchida(eds.), Springer Nature, pp. 309-341, 2020
(DOI: 10.1007/978-981-15-3576-5_12)
S. Yamashita, T. Hatanaka, J. Yamauchi and M. Fujita
Passivity-Based Generalization of Primal-Dual Dynamics for Non-Strictly Convex Cost Functions
Automatica, vol. 112, no. 2, 108712, 2020
(DOI: 10.1016/j.automatica.2019.108712)
K. Yoshida, M. Inoue, and T. Hatanaka
Instant MPC for Linear Systems and Dissipativity-Based Stability Analysis
IEEE Control Systems Letters, Vol. 3, No. 4, pp. 811-816, 2019
(DOI: 10.1109/LCSYS.2019.2918095)
T. Hatanaka, N. Chopra, T. Ishizaki and N. Li
Passivity-Based Distributed Optimization with Communication Delays Using PI Consensus Algorithm
IEEE Transactions on Automatic Control, Vol. 63, No. 12, pp. 4421-4428, 2018
(DOI:10.1109/TAC.2018.2823264)
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)
