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Researchers
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HIGUCHI Takehiro
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【Published Thesis】 Autonomous Landing Using Model Prediction via Successive Convexification(Transactions of the Society of Instrument and Control Engineers) 2023.03
【Published Thesis】 Semi-Optimal Control Using Shooting Method for Real Time Minimum-Time Maneuver of Satellite with VSCMG 2021.04
【Published Thesis】 Semi-Optimal Control for Minimum-Time Maneuver of Satellite with Variable Speed Pyramid Type SGCMGs 2021.01
【Published Thesis】 Minimum-Time Transfer Trajectories from Low-Earth Orbit to NRHO(Journal of Evolving Space Activities) 2024.01
【Published Thesis】 Hierarchical Control and Subgroup Formation for Robotic Swarms in Patrol Missions(International Journal of Mechanical Engineering and Robotics Research ) 2023.09
【Published Thesis】 Autonomous Landing Using Model Prediction via Successive Convexification(Transactions of the Society of Instrument and Control Engineers) 2023.03
【Published Thesis】 Connectivity maintenance for robotic swarms by distributed role switching algorithm(Artificial Life and Robotics) 2022.09
【Published Thesis】 Semi-Optimal Control Using Shooting Method for Real Time Minimum-Time Maneuver of Satellite with VSCMG 2021.04
Yokohama National University Doctor Course Completed
Yokohama National University Master Course Completed
Yokohama National University Graduated
Doctor of Engineering - Yokohama National University
Master of Engineering - Yokohama National University
Duty Yokohama National UniversityFaculty of Environment and Information Sciences Division of Artificial Environment and Information Associate Professor
Duty Yokohama National UniversityFaculty of Environment and Information Sciences Division of Artificial Environment and Information Assistant Professor
Duty Yokohama National UniversityInterdisciplinary Research Center Specially Appointed Assistant Professor
Concurrently Yokohama National UniversityInstitute for Multidisciplinary Sciences Associate Professor
Concurrently Yokohama National UniversityInterfaculty Graduate School of Innovative and Practical Studies Associate Professor
Yamaguchi University Graduate School of Science and Engineering Assistant Professor
The Japan Society for Aeronautical and Space Science
American Institute of Aeronautics and Astronautics
The Japan Society of Mechanical Engineers
The Society for Instrument and Control Engineers
Frontier Technology (Aerospace Engineering, Marine and Maritime Engineering) / Aerospace engineering
Informatics / Mechanics and mechatronics
Swarm Control of Vehicles
Project Year： 2015 - 2024
Periodic Optiomal Controller for Multi-Joint Space structure
Project Year：
Attitude Control of Satellites using CMGs
Project Year：
Automatic Flight Control of Indoor UAVs
The Other Research Programs
Project Year：
Automatic Flight Control of UAVs
Grant-in-Aid for Scientific Research
Project Year：
Advances in the Astronautical Sciences：Applications of Space Technology for Humanity
上野誠也（ Role： Joint author）
Univelt Inc.
Language：English Book type：Scholarly book
Numerical Analysis Theory and Application
J. Awrejcewicz, et. al.（ Role： Joint author）
InTech （ ISBN:9789533073897 ）
Language：English Book type：Scholarly book
Ａdvances in the Astronautical Sciences：Space Activities and Cooperation Contributing to All Pacific Basin Countries
上野誠也（ Role： Joint author）
Univelt Inc.
Language：English Book type：Scholarly book
Improvement of Guidance Performance using Swarm Intercept with Proportional Navigation and Boids Algorithm
Yamashita Kota, Kobayashi Kazuho, Higuchi Takehiro
Journal of the Robotics Society of Japan 43 ( 1 ) 108 - 111 2025
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Robotics Society of Japan Joint Work
Kobayashi Shohei, Kobayashi Kazuho, Higuchi Takehiro
Artificial Life and Robotics Early Access 2024.10
Language：English Publishing type：Research paper (scientific journal) Publisher：Institute of Electrical and Electronics Engineers (IEEE) Joint Work
Using many agents with different characteristics is more effective than using a homogeneous agent to observe a large environment persistently. This study focuses on the heterogeneity of agents’ observation capabilities, such as sensor resolution, by representing these differences through probabilistic observation. This representation allows agents to compute mutual information when selecting surveillance areas and move to where they can obtain the most information from their observations. In addition, we introduce confidence decay for three or more states, a strategy to encourage agents to revisit locations that have not been observed for an extended period of time. Confidence decay represents a gradual decrease in the estimates’ reliability since the state may have changed during the unobserved period. This strategy increases the mutual information of locations that have not been observed for a long time so that the agents will move toward them. Simulations in a changing environment show that the proposed method enables heterogeneous multi-agents to perform persistent surveillance according to their observation capabilities. It also outperforms the existing partition and sweep method in a quantitative comparison of observation accuracy.
Multi-Robot Patrol with Continuous Connectivity and Assessment of Base Station Situation Awareness
Kobayashi Kazuho, Ueno Seiya, Higuchi Takehiro
Journal of Robotics and Mechatronics 36 ( 3 ) 526 - 537 2024.6
Language：English Publishing type：Research paper (scientific journal) Publisher：富士技術出版株式会社 Joint Work
<p>Patrolling represents a potential application area for multi-robot systems, as it can enable efficient surveillance. A key aspect in facilitating the real-world applications of such missions is the enhancement of situation awareness of the base station (BS), in addition to ensuring well-coordinated patrol behavior. This paper addresses this requirement by proposing a layered patrol algorithm designed to maintain network connectivity with the BS. The novelty of this research lies in the distributed nature of the algorithm, despite the presence of the BS. Each robot independently determines its behavior based on local information while concurrently preserving connectivity to the BS. Additionally, this study introduces a novel performance metric to assess the situation awareness of the BS, focusing on the algorithm’s ability to provide prompt information about mission progress. Simulated missions revealed that the proposed algorithm outperformed existing algorithms, visited locations of interest more frequently and comprehensively, and provided the BS with improved situation awareness. Enhancing situation awareness may enable human operators to quickly gain insights into the system’s behavior based on mission progress, allowing for timely interventions if necessary. This capability contributes to improving human trust in autonomous systems.</p>
物流ドローンのための可変コスト型ダイクストラアルゴリズムを用いた経路計画
細井翔太，小林一穂，小林星平，山下皓大，樋口丈浩
第11回計測自動制御学会制御部門マルチシンポジウム講演会論文集 ( 3M5-2 ) 1 - 6 2024.3
Authorship：Last author, Corresponding author Language：Japanese Publishing type：Research paper (research society, symposium materials, etc.) Joint Work
DBSCANを用いたクラスタリング誘導による誘導性能の向上
山下皓大、小林一穂、小林星平、樋口丈浩
第11回計測自動制御学会制御部門マルチシンポジウム講演会論文集 ( 3A3-2 ) 1 - 6 2024.3
Authorship：Last author, Corresponding author Language：Japanese Publishing type：Research paper (research society, symposium materials, etc.) Joint Work
Hierarchical Control and Subgroup Formation for the Robotic Swarms in Patrol Missions
Kobayashi, K. and Higuchi, T. and Ueno, S.
International Journal of Mechanical Engineering and Robotics Research 12 ( 5 ) 258 - 263 2023
Language：The in addition, foreign language Publishing type：Article, review, commentary, editorial, etc. (bulletin of university, research institution) Joint Work
SICE-ICASE International Joint Conference 2006 Young Author Award
2006.10
ISTS Student Session JSASS President Award
2002
Developement of High Torque Pyramid Type Micro VS-CMG Applying Singular Input
2020.4 - 2023.3
Grant-in-Aid for Scientific Research Grant-in-Aid for Scientific Research(C)
Investigator(s)：Takehiro Higuchi
Grant type：Competitive
Experiment on Control Conflict of Avoidance Manuvoer of Small UAV
2007.4 - 2009.3
Grant-in-Aid for Scientific Research Grant-in-Aid for Young Scientists(B)
Grant type：Competitive
SLIMプロジェクト
Offer organization: JAXA/ISAS Cooperative Research within Japan
Project Year： 2010.2 -
UZUMEプロジェクト
Offer organization: JAXA/ISAS Cooperative Research within Japan
Project Year： 2020.12 -
2025 Aerospace Utilization Engineering Ⅱ
Interfaculty Graduate School of Innovative and Practical Studies
2025 Aerospace Utilization Engineering Ⅰ
Interfaculty Graduate School of Innovative and Practical Studies
2025 International Internship in Ocean and Space System Engineering
Graduate school of Engineering Science
2025 Sub-Research Studio (Ocean and Space Engineering)
Graduate school of Engineering Science
2025 Off-Campus Exercise in Ocean and Space System Engineering
Graduate school of Engineering Science
33rd Astrodynamics Symposium
2023.7 Mediator
Committee type：Other
JAXA/ISAS 第11期 宇宙⼯学委員会
2023.4 委員
Committee type：Academic society
計測自動制御学会 次世代航法誘導制御技術研究会
2022.1 幹事
Committee type：Academic society
JAXA/ISAS 第10期 宇宙⼯学委員会 委員
2021.4 - 2023.3
Committee type：Academic society
計測自動制御学会 航法誘導制御技術研究会 主査
2019.1 - 2021.12
Committee type：Academic society
高校生インターンシップ
Role(s)： Lecturer, Planner
横浜国立大学 2023.8
IFAC2023 Citizens Forum
Role(s)： Planner, Logistic support
International Federantion of Automatic Control 2022.9 - 2023.7
オーサーズカフェ『飛行ロボットの活躍の現状と未来』
Role(s)： Lecturer
ユニコムプラザさがみはら オーサーズカフェ 2022.1
