Takeshi Hatanaka

Associate Professor

Our group is working on cyber-physical & 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. Besides theory-oriented work, we are also addressing social implementation of networked robotics through interdisciplinary collaborative research projects.


Cyber-Physical & Social Systems


Cyber-Physical & Human Systems


Networked Robotics

lab introduction

lab introduction

Play Video
Robot Zoo Sky/Aqua

Robot Zoo Sky/Aqua

Play Video

More movies are found here:


Promotion Videos for SSS Research & Education Fields are here

Research Interest



Mr. M. Suenaga won the SSS Matching Workshop Best Seed Award



Dr. H. Dan won Seiichi Tejima Doctoral Dissertation Award



1 PhD, 4 Master and 2 Bachelor students completed their degrees



T. Kornvik won JSME Hatakeyama Award




SICE MSCS/ISCS was a success! 



T. Kornvik won Tokyo Tech Student Leadership Award




2 Master and 1 Bachelor students completed their degrees



Our paper won SICE Outstanding Paper Award


2022 Jul.     M. Taya started stay in CMU

2022 Jul.     European Control Conference

2022 Jul.     Final presentation for the independent research project

2022 Jul.     Seminar by Prof. Kai Cai and Prof. Takashi Tanaka
2022 Aug.    Master thesis presentation
2022 Aug.    M. Suenaga starts stay in U. Stuttgart 

2022 Aug.    IEEE CCTA Workshop on Agriculture 4.0

2022 Aug.    IEEE Conference on Control Technology and Applications

2022 Sep.    IFAC AgriControl

2022 Sep.    Mid-term presenation for master thesis

2022 Sep.    R. Oda starts stay in TUM


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, to be published, Dec., 2022


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 CSMBook 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


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

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, to be published, 2022


ieeecss-publication-covers_transactions-on-control-of-network-systems-cover_0 (1).png

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



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


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)


Selected Recent Publications