8 papers
Contract-Based Decomposition of Temporal Logic Specifications for Networked Systems under Arbitrary Partitions
Kodai Kanno, Kenta Hoshino, Takeshi Hatanaka
Computational complexity is an inherent limitation of formal synthesis for networked systems, and decomposing the global specification into local ones relaxes this limitation at th…
Smooth Dynamics for Distributed Constrained Optimization with Heterogeneous Delays
Mengmou Li, Shunya Yamashita, Takeshi Hatanaka +1
This work investigates the distributed constrained optimization problem under inter-agent communication delays from the perspective of passivity. First, we propose a continuous-tim…
Instant MPC for linear systems and dissipativity-based stability analysis
Keisuke Yoshida, Masaki Inoue, Takeshi Hatanaka
This letter is devoted to the concept of ``instant'' model predictive control (iMPC) for linear systems. An optimization problem is formulated to express the finite-time constraine…
Passivity-Based Generalization of Primal-Dual Dynamics for Non-Strictly Convex Cost Functions
Shunya Yamashita, Takeshi Hatanaka, Junya Yamauchi +1
In this paper, we revisit primal-dual dynamics for convex optimization and present a generalization of the dynamics based on the concept of passivity. It is then proved that supply…
A Passivity-Based Distributed Reference Governor for Constrained Robotic Networks
Tam Nguyen, Takeshi Hatanaka, Mamoru Doi +2
This paper focuses on a passivity-based distributed reference governor (RG) applied to a pre-stabilized mobile robotic network. The novelty of this paper lies in the method used to…
Passivity-Based Control of Human-Robotic Networks with Inter-Robot Communication Delays and Experimental Verification
J. Yamauchi, M. W. S. Atman, T. Hatanaka +2
In this paper, we present experimental studies on a cooperative control system for human-robotic networks with inter-robot communication delays. We first design a cooperative contr…