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
10/2026
DARS 2026 has concluded successfully.
09/2026
One PhD, two master and two bachelor students completed their degrees
12/2025
N. Ito won 68th JACC Outstanding Presentation Award
09/2026
K. Oishi won Dept. SCE Outstanding Presentation Award
06/2026
K. Kanno won Vision Co-creation Encouragement Award at Vision Matching 2026
03/2026
Two master and one bachelor students completed their degrees
03/2026
Y. Monden won JSME Hatakeyama Award
12/2025
T. Abe won 68th JACC Outstanding Presentation Award
09/2026
E. Nishimiya won Dept. SCE Outstanding Presentation Award
06/2026
Plenary Lecture in CAS 2026
03/2026
Y. Monden won Dept. SCE Outstanding Presentation Award
03/2026
Y. Toyomoto won SICE Outstanding Student Award
2026 Aug. Hanif gives a plenary speech at MISW 2026
2026 Aug. Our paper has been accepted for publication in IEEE Trans. Computational Social Systems
2026 Aug. Three Open Invited Tracks on CPHS in IFAC WC 2026 on Aug 24
2026 Aug. Science News on Summer Program
2026 Sep. SICE Control Theory Retreat for Young Researchers
2026 Sep. Three IFAC CPHS papers have been accepted for presentation
2026 Sep. E. Nishimiya won Dept. SCE Outstanding Presentation Award
2026 Sep. K. Oishi won Dept. SCE Outstanding Presentation Award
2026 Oct. Our paper with U. Seville has been accepted for publication in Automatica
2026 Oct. DARS 2026
2026 Nov. 69th JACC
2026 Nov. 70th Space Sciences and Technology Conference
2026 Dec. 65th IEEE CDC
K. Oishi, Y. Toyomoto, T. Oshima, and T. Hatanaka
A Benchmark on Multi-USV Control for Aquatic Environmental Monitoring
Control Systems Benchmarks II
J. M. Maestre and C. Ocampo-Martinez (eds.)
Advances in Industrial Control series, Springer Nature, 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. Hatanaka and R. Funada,
Cooperative Control of Network Systems
New Frontiers of Systems and Control Series Vol. D-1,
Corona Publishing Co., LTD, 2026 (in Japanese)
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, A. Hernandez-Rivera, and T. Hatanaka
Slack-Based Stochastic Model Predictive Control
Automatica, to appear, 2026
T. Miyano, Y. Ito, D. Inoue, and T. Hatanaka
Practical Consensus Among Heterogeneous Decision-Makers: Experimental and Theoretical Analyses
IEEE Transactions on Computational Social Systems, to appear, 2026
(10.1109/TCSS.2026.3727690)
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, vol. 9, pp. 2273-2278, 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, vol. 33, no. 6, pp. 2037-2051, 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)
