Riku Funada

Assistant Professor with the Sampei Laboratory
Department of Systems and Control,
Tokyo Institute of Technology.

Coordination of Robots over Long Distance

How to achieve coordinated control of robots in distant areas (e.g. different continents)?
Approach: Passivity-based Control and Control Barrier Function
This is a collaborative work between the Robotarium in Georgia Tech and the preliminary version of the Robot Zoo in Tokyo Tech.

Visual Coverage with Quadcopters

How to cooperatively monitor a wide important area by quadcopters equipped with cameras?
Approach: Coverage Control and Control Barrier Function

Visual Surveillance with PTZ Camera

How to cooperatively monitor dynamic targets, such as pedestrians, by cameras with controllable orientation?
Approach: Optimization on Manifolds and Density Estimation

3-D Visual Human Localization

How to localize a pedestrian with cameras under the existence of obstacles which may cause occlusions?
Approach: Passivity based Distributed Optimization and Loop Shaping

Publications

Journal Paper（論文）

  1. R. Funada, K. Nishimoto, T. Ibuki and M. Sampei
    "Collision Avoidance for Ellipsoidal Rigid Bodies with Control Barrier Functions Designed from Rotating Supporting Hyperplanes"
    IEEE Transactions on Control Systems Technology, Early Access, pp. 1-17, 2024.
    (Open Access from DOI: 10.1109/TCST.2024.3467809)
  2. R. Funada, M. Soliman, T. Ibuki and M. Sampei
    "Hoverable Structure Transformation for Multirotor UAVs with Laterally Actuated Frame Links"
    Advanced Robotics, vol. 38, no. 9-10, pp. 684-697, 2024.
    (Open Access from DOI: 10.1080/01691864.2024.2324310)
  3. R. Funada, M. Santos, R. Maniwa, J. Yamauchi, M. Fujita, M. Sampei and M. Egerstedt
    "Distributed Coverage Hole Prevention for Visual Environmental Monitoring with Quadcopters via Nonsmooth Control Barrier Functions"
    IEEE Transactions on Robotics, vol. 40, pp. 1546-1565, 2024.
    (Open Access from DOI: 10.1109/TRO.2023.3347132)
  4. A.R. Pedram, R. Funada and T. Tanaka
    "Gaussian Belief Space Path Planning for Minimum Sensing Navigation"
    IEEE Transactions on Robotics, Vol. 39, No. 3, pp. 2040-2059, 2023.
    (DOI: 10.1109/TRO.2022.3228128)
  5. T. Ito, R. Funada, S. Mochida, T. Kawagoe, T. Ibuki and M. Sampei
    "Design and Experimental Verification of a Hoverable Quadrotor Composed of Only Clockwise Rotors"
    Advanced Robotics, Vol. 37, No. 10, pp. 667-678, 2023.
    (Open Access from DOI: 10.1080/01691864.2023.2185813)
  6. T. Ibuki, T. Hirano, R. Funada and M. Sampei
    "Optimization-based Distributed Safety Control with Applications to Collision Avoidance for Mobile Robotic Networks"
    Advanced Robotics, Vol. 37, No. 1-2, pp. 87-98, 2023.
    (Open Access from DOI: 10.1080/01691864.2022.2119886)
  7. R. Watanabe, T. Ibuki, Y. Sakayanagi, R. Funada and M. Sampei
    "Risk-aware Energy Management for Drive Mode Control in Plug-in Hybrid Electric Vehicles"
    IEEE Access, Vol. 10, pp. 103619-103631, 2022.
    (Open Access from DOI: 10.1109/ACCESS.2022.3206091)
  8. J. Yamauchi, T. Gencho, R. Funada, T. Hatanaka, M. Fujita
    "Persistent Visual Coverage Control Ensuring Field of Views' Overlap with Information Reliability and Energy Management"
    IEEJ Transactions on Electronics, Information and Systems, Vol. 141, No. 3, pp. 417-425, 2021.
    (DOI: 10.1109/MCS.2020.2990515)
  9. R. Funada, X. Cai, G. Notomista, M.W.S. Atman, J. Yamauchi, M. Fujita and M. Egerstedt
    "Coordination of Robot Teams Over Long Distances From Georgia Tech to Tokyo Tech and Back; An 11,000km Multi-Robot Experiment"
    IEEE Control Systems Magazine, Vol. 40, No. 4, pp. 53-79, 2020.
    (DOI: 10.1109/MCS.2020.2990515)
  10. 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)
  11. A.W. Farras, T. Hatanaka, T.W. Nguyen, R. Funada, J. Yamauchi and M. Fujita
    "Distributed Dynamic Reference Governor for Constrained Semi-Autonomous Robotic Swarms with Communication Delays and Experimental Verification"
    SICE Journal of Control, Measurement, and System Integration, Vol. 12, No. 6, pp. 237-245, 2019.
    (DOI: 10.9746/jcmsi.12.237)
  12. R. Funada, S. Yamashita, T. Hatanaka and M. Fujita
    "Passivity-Based Distributed 3-D Visual Human Localization Algorithm"
    Transactions of the Society of Instrument and Control Engineers, Vol. 54, No. 6, pp. 547-556, 2018. (in Japanese)
    (DOI: 10.1115/1.2017-Jun-6)
  13. 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, Downloadable at arXiv:1302.2017)
  14. R. Funada, T. Hatanaka and M. Fujita
    "Cooperative Visual Environmental Monitoring: A Gradient Descent Approach on SO(3)"
    Transactions of the Society of Instrument and Control Engineers, Vol. 51, No. 3, pp. 139-147, Mar 21, 2015. (in Japanese)
    (DOI:10.9746/sicetr.51.139)

International Conference Papers (国際会議論文)

  1. K. Nishimoto, Y. Onishi, R. Funada and M. Sampei
    "Controller Design for Linear Systems via Controllability Gramian Shaping"
    Proc. the 8th IEEE Conf. Control Technology and Applications, pp. 832-838, 2024.
    (Doi: 10.1109/CCTA60707.2024.10666528)
  2. Y. Kataoka, R. Funada, K. Uemura, J. Peterson, K. Saku, K. Sunagawa, M. Sampei, and J. Alexander
    "Patient-specific Optimal Hemodynamic Control with Minimal Myocardial Oxygen Consumption"
    Proc. the 8th IFAC Conf. Nonlinear Model Predictive Control, IFAC-PapersOnline, vol. 58, No. 18, pp. 47-52, 2024.
    (Doi: 10.1016/j.ifacol.2024.09.008)
  3. T Ito, R. Funada, and M Sampei
    "Design and Control of a VTOL Aerial Vehicle Tilting its Rotors only with Rotor Thrusts and a Passive Joint"
    Proc. the 22nd European Control Conference, pp. 1435-1442, 2024.
    (Doi: 10.23919/ECC64448.2024.10590828)
  4. R. Funada, K. Miyama, T. Toyooka, T. Tanaka and M. Sampei
    "Minimum Sensing Strategy for a Path-Following Problem via Discrete-Time Control Barrier Functions"
    Proc. the 22nd IFAC World Congress, pp. 3276-3281, 2023.
    (Doi: 10.1016/j.ifacol.2023.10.1417)
  5. S. Mochida, R. Terunuma, T. Ito, R. Funada, T. Ibuki and M. Sampei
    "Optimization of Rotor Arrangement for a Multirotor UAV with Robustness against a Single Rotor-Failure"
    Proc. the 22nd IFAC World Congress, pp. 10001-10006, 2023.
    (Doi: 10.1016/j.ifacol.2023.10.214)
  6. T. Fujinami, J. Yamauchi, R. Funada, and M. Fujita
    "A Control Barrier Function Approach for Observer-Based Visually Safe Pursuit Control with Spherical Obstacles"
    Proc. the 22nd IFAC World Congress, pp. 11609-11614, 2023.
    (Doi: 10.1109/IROS47612.2022.9981431)
  7. Shunsuke Mochida, Ryotaro Onuki, Takahiro Kawagoe, Takumi Ito, Tatsuya Ibuki, Riku Funada and Mitsuji Sampei
    "Hoverability Analysis and Development of a Quadrotor Only with Clockwise Rotors"
    Proc. of 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 7558-7564, 2022.
    (Doi: 10.1109/IROS47612.2022.9981431)
  8. K. Nishimoto, R. Funada, T. Ibuki and M. Sampei
    "Collision Avoidance for Elliptical Agents with Control Barrier Function Utilizing Supporting Lines"
    Proc. of 2022 American Control Conference, pp. 5147-5153, 2022.
    (DOI: 10.23919/ACC53348.2022.9867730)
  9. R. Watanabe, K. Nishimoto, T. Ibuki, Y. Sakayanagi, R. Funada and M. Sampei
    "Drive Mode Control with a Catalyst Temperature Model for Fuel and Emissions Reduction in Plug-In Hybrid Electric Vehicles"
    Proc. of 2022 American Control Conference, pp. 3064-3070, 2022.
    (DOI: 10.23919/ACC53348.2022.9867767)
  10. A.R. Pedram, R. Funada and T. Tanaka
    "Dynamic Allocation of Visual Attention for Vision-based Autonomous Navigation under Data Rate Constraints"
    Proc. of 2021 IEEE Conference on Decision and Control, pp. 6243-6250, 2021.
    (DOI: 10.1109/CDC45484.2021.9683570)
  11. A.R. Pedram, J. Stefarr, R. Funada and T. Tanaka
    "Rationally inattentive path-planning via RRT*"
    Proc. of 2021 American Control Conference, pp. 3440-3446, 2021. (DOI:10.23919/ACC50511.2021.9483305)
  12. R. Funada, M. Santos, T. Gencho, J. Yamauchi, M. Fujita and M. Egerstedt
    "Visual Coverage Maintenance for Quadcopters Using Nonsmooth Barrier Functions"
    Proc. of 2020 International Conference on Robotics and Automation, pp. 3255-3261, 2020. (DOI:10.1109/ICRA40945.2020.9196650)
  13. 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, pp. 3010-3016, 2019. (DOI:10.1109/ICRA.2019.8793477)
  14. M.W.S. Atman, K. Noda, R. Funada, J. Yamauchi, T. Hatanaka and M. Fujita
    "On Passivity-Shortage of Human Operators for A Class of Semi-autonomous Robotic Swarms"
    Proc. of 2nd IFAC Conference on Cyber-Physical & Human Systems, pp. 21-27, 2018. (DOI:10.1016/j.ifacol.2019.01.008)
  15. 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 (NecSys),
    IFAC-PapersOnLine, Vol. 49, No. 22, pp. 210-215, 2016. (DOI:10.1016/j.ifacol.2016.10.398)
  16. M. Forstenhaeusler, R. Funada, T. Hatanaka and M. Fujita
    "Experimental Study of Gradient-Based Visual Coverage Control on SO(3) Toward Moving Object/Human Monitoring"
    Proc. of 2015 American Control Conference, pp. 2125-2130, 2015. (DOI:10.1109/ACC.2015.7171047)
  17. T. Hatanaka, R. Funada and M. Fujita
    "3-D Visual Coverage Based on Gradient Descent Algorithm on Matrix Manifolds and Its Application to Moving Objects Monitoring"
    Proc. of 2014 American Control Conference, pp. 2125-2130, 2015. (DOI:10.1109/ACC.2014.6858663)

Invited Papers（招待論文・解説）

  1. 舩田陸
    "制御バリア関数で掴む安全な研究ライフ"
    システム/制御/情報, in press, 2025.
  2. 舩田陸, 山内淳矢, 畑中健志
    "制御バリア関数に基づく制約付きマルチロボット制御"
    システム/制御/情報, in press, 2025.
  3. 舩田陸, 永原正章
    "ハイブリッド会議運営の実際"
    計測と制御, vol. 63, no. 7, pp. 427-430, 2024.
    (Doi: 10.11499/sicejl.63.427)

Book / Book Chapter （書籍）

  1. 畑中健志，舩田陸, "ネットワークシステムの分散協調制御（仮）" コロナ社, under preparation.
  2. 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), Springer Nature, to be published, 2024.

Invited Talk（招待講演）

  1. 舩田陸, "安全性を保証した移動ロボットの制御," 東工大×Denso ITLab共同研究講座及び合同研究会, 2023年3月29日.
  2. R. Funada, "Visual Environmental Monitoring for Teams of Quadcopters"
    Conference on Control Technology and Applications Workshop, "The Confluence of Vision and Control," Aug. 8, 2021.
  3. 舩田陸, "アメリカでの研究滞在とその準備," 海外で活躍する若者たち：コロナを乗り切る留学・就職・長期滞在のノウハウ, SICE九州支部フォーラム, 2020年10月18日.

Others（その他）

  1. Co-Editor of the special issue:
    L. Beaver, G. Notomista, R. Funada and J. Yamauchi " Ecologically-Inspired Design and Control of Robotic Swarms," Co-Editor, IFAC Journal of Systems and Control, 2023.
  2. National Organizing Committee of IFAC2023, Online Team of IFAC 2023, The 22nd World Congress of the International Federation of Automatic Control, July, 2023.
  3. Workshop Co-Organizer:
    G. Notomista, R. Funada, J. Yamauchi and P.R. Giordano, "Human-multi-robot Systems: Challenges for Real-world Applications," Workshop Co-Organizer, The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct. 27, 2022.

Projects（研究助成）

  1. 公益財団法人みずほ学術振興財団 (PI: Riku Funada): 移動ロボットに対する計測量削減的な戦略に基づく安全性を担保した衝突回避制御の構築
    from 2024-06 to 2026-03.
  2. JSPS KAKENHI Grant Number 22K14275 (PI: Riku Funada): ロボティックセンサネットワークによる状況適応的環境モニタリング手法の構築
    from 2022-04-01 to 2025-03-31.
  3. JSPS KAKENHI Grant Number 21K20425 (PI: Riku Funada): 自律移動ロボットに対する情報削減的計測戦略を有した経路計画・追従システムの構築
    from 2021-08-30 to 2023-03-31.
  4. 東京工業大学 工学院 助教インセンティブ研究費 (PI: Riku Funada): 合理的不注意性を有した実時間計測戦略に基づく経路追従手法の提案
    from 2021-09-01 to 2022-03-31.
  5. JSPS KAKENHI Grant Number 21H01348 (PI: Mitsuji Sampei): マルチロータ型UAVの運動性能解析に基づく構造設計と制御
    from 2021-04-01 to 2025-03-31.

Scholarships & Awards（受賞）

  1. 東京工業大学 工学院 若手奨励賞
    (November, 2023)
  2. Control Division Young Author's Award: Fundamental Area
    (March, 2023)
  3. Outstanding Presentation Award in 第63回 自動制御連合講演会
    (November, 2021)
  4. Seiichi Tejima Doctoral Dissertation Award
    (February, 2020)
  5. Travel expenses support from Mitutoyo Association for Science and Technology
    (for ICRA 2019 held in May 2019)
  6. Research Fellowships of Japan Society for the Promotion of Science for Young Scientists (JSPS DC1)
    (April 2016 - March 2019)
  7. Travel expenses support from International Cooperation Office in Tokyo Institute of Technology
    (for Research Activity in Professor Magnus Egerstedt's Group in Georgia Institute of Technology, June 2018 - November 2018)
  8. Scholarship from Japan Student Services Organization (Exemption from refund)
    (April 2014 - March 2016)
  9. Miura Award from The Japan Society of Mechanical Engineers
    (March 2016)
  10. 130 Anniversary Encouragement Scholarship for Proceeding to Doctoral Course from Tokyo Institute of Technology
    (October 2015)
  11. Student Poster Session Award in MSCS 2015 held by SICE
    (March 2015)

Short term visit

  1. Professor Magnus Egerstedt's Group in Georgia Institute of Technology, June 2018 - November 2018.
    Research Result is published in ICRA 2019.
    Blog: Georgia Tech 滞在記 (in Japanese).
    The sequel of the above blog is UT Austin 滞在記 (in Japanese).

Bio

Career


Education

  • Ph.D. in Engineering from School of Department of Systems and Control Engineering, Tokyo Institute of Technology, 2019.
    Supervised by Prof. Masayuki Fujita and Prof. Hatanaka Takeshi.
  • M.Eng. from Department of Mechanical and Control Engineering, Tokyo Institute of Technology, 2016.
    Supervised by Prof. Masayuki Fujita and Prof. Hatanaka Takeshi.
  • B.Eng. from Department of Control and Systems Engineering, Tokyo Institute of Technology, 2014.
    Supervised by Prof. Masayuki Fujita.

Teaching Assistant

  • Robust Control (2017, 2016, 2015, 2014)
  • Feedback Control (2016, 2015, 2014)
  • MATLAB TA (2015, Elected through screening process and interview)
  • Analysis and Design of Linear Control Systems (2015)
  • Training in Laboratories on Systems and Control Engineering (2017, 2016, 2014)

    • Contact

    • Address

      S5-310A, Ookayama 2-12-1, Meguro-ku, Tokyo, 152-8550, JP. (Mailbox: S5-24)

    • Email

      funada _at_ sc.e.titech.ac.jp