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Affiliation |
Faculty of Environment and Information Sciences, Division of Artificial Environment and Information |
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Job Title |
Associate Professor |
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Date of Birth |
1977 |
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Research Fields, Keywords |
Aerospace Engineering, Optimal Control, Non-linear Control, Swarm Control |
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Mail Address |
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Web Site |
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Related SDGs |
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HIGUCHI Takehiro
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ORCID
The Best Research Achievement in Research Career 【 display / non-display 】
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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
The Best Research Achievement in the last 5 years 【 display / non-display 】
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【Published Thesis】 Route Planning Using Multi-objective Dijkstra Algorithm for Logistics Drones(Transactions of the Society of Instrument and Control Engineers) 2025.03
【Published Thesis】 Improvement of Guidance Performance using Swarm Intercept with Proportional Navigation and Boids Algorithm(Journal of the Robotics Society of Japan) 2025.01
【Published Thesis】 Minimum-Time Transfer Trajectories from Low-Earth Orbit to NRHO(Journal of Evolving Space Activities) 2024.01
【Published Thesis】 Persistent surveillance by heterogeneous multi-agents using mutual information based on observation capability(Artificial Life and Robotics) 2024.10
【Published Thesis】 Hierarchical Control and Subgroup Formation for Robotic Swarms in Patrol Missions(International Journal of Mechanical Engineering and Robotics Research ) 2023.09
Education 【 display / non-display 】
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-2005
Yokohama National University Doctor Course Completed
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-2002
Yokohama National University Master Course Completed
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-2000
Yokohama National University Graduated
Degree 【 display / non-display 】
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Doctor of Engineering - Yokohama National University
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Master of Engineering - Yokohama National University
Campus Career 【 display / non-display 】
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2014.10
Duty Yokohama National UniversityFaculty of Environment and Information Sciences Division of Artificial Environment and Information Associate Professor
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2012.4-2014.9
Duty Yokohama National UniversityFaculty of Environment and Information Sciences Division of Artificial Environment and Information Assistant Professor
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2007.11-2012.3
Duty Yokohama National UniversityInterdisciplinary Research Center Specially Appointed Assistant Professor
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2024.12
Concurrently Yokohama National UniversityInstitute for Multidisciplinary Sciences Associate Professor
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2021.4
Concurrently Yokohama National UniversityInterfaculty Graduate School of Innovative and Practical Studies Associate Professor
External Career 【 display / non-display 】
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2015.4-2017.3
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2005.4-2007.10
Yamaguchi University Graduate School of Science and Engineering Assistant Professor
Academic Society Affiliations 【 display / non-display 】
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2000
The Japan Society for Aeronautical and Space Science
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2002
American Institute of Aeronautics and Astronautics
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The Japan Society of Mechanical Engineers
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The Society for Instrument and Control Engineers
Research Areas 【 display / non-display 】
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Frontier Technology (Aerospace Engineering, Marine and Maritime Engineering) / Aerospace engineering
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Informatics / Mechanics and mechatronics
Research Career 【 display / non-display 】
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Swarm Control of Vehicles
Project Year： 2015 - 2024
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Periodic Optiomal Controller for Multi-Joint Space structure
Project Year：
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Attitude Control of Satellites using CMGs
Project Year：
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Automatic Flight Control of Indoor UAVs
The Other Research Programs
Project Year：
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Automatic Flight Control of UAVs
Grant-in-Aid for Scientific Research
Project Year：
Books 【 display / non-display 】
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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
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Numerical Analysis Theory and Application
J. Awrejcewicz, et. al.（ Role： Joint author）
InTech （ ISBN:9789533073897 ）
Language：English Book type：Scholarly book
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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
Papers 【 display / non-display 】
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Dynamic Buffer Control Using Deep Reinforcement Learning for Efficient Air Traffic Flow Management
SATO Gaku, TORATANI Daichi, HIGUCHI Takehiro
Transactions of the Society of Instrument and Control Engineers 62 ( 3 ) 100 - 109 2026
Language：Japanese Publishing type：Research paper (scientific journal) Publisher：The Society of Instrument and Control Engineers Joint Work
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Reactive persistent surveillance by heterogeneous multi-agents with energy constraint
Kobayashi, S; Higuchi, T
ARTIFICIAL LIFE AND ROBOTICS 30 ( 4 ) 764 - 772 2025.11
Language：English Publishing type：Research paper (scientific journal) Publisher：Springer Nature Joint Work
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Reactive persistent surveillance by heterogeneous multi-agents with energy constraint
Kobayashi Shohei, Higuchi Takehiro
Artificial Life and Robotics 2025.10
Language：English Publishing type：Research paper (scientific journal) Publisher：Springer Nature Joint Work
When natural disasters occur, accurately assessing the situation in a changing environment requires rapid and persistent observation. This paper focuses on the problem of conducting persistent observations using heterogeneous multi-agents with different observation capabilities and maximum operational time. To enable long-term operations covering vast environments, agents must replenish energy resources such as batteries and fuel. In this research, we discuss a method for selecting the direction of movement for observation by calculating utility values based on mutual information and remaining energy. Additionally, since mutual information reflects the different observation capabilities of each agent type, agents can move to locations where they can obtain the most information through their own observations. Through utility value-based action determination, agents fundamentally decide their movement directions based on mutual information, but as their energy levels decrease, they become more likely to choose the shortest path to a supply station. To validate the proposed method, we conducted numerical experiments involving persistent observation simulations in two changing environments: a simplified artificial environment and an environment representing a large-scale disaster in progress. The experimental results confirm that our proposed method successfully enables heterogeneous multi-agents to perform reactive observations while resupplying energy.
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Kobayashi, K; Kobayashi, S; Ueno, S; Higuchi, T
JOURNAL OF ROBOTICS AND MECHATRONICS 37 ( 4 ) 927 - 944 2025.8
DOI Web of Science CiNii Research
Language：The in addition, foreign language Publishing type：Research paper (scientific journal) Publisher：富士技術出版株式会社 Joint Work
<p>Patrolling with multiple robots enables efficient surveillance for detecting and managing undesirable situations. This necessitates improved patrol efficiency and operator situational awareness at base stations. An enhanced situational awareness enables operators to predict robot behavior, support recognition and decision-making, and execute emergency interventions. This paper presents the local reactive and partition (LR-PT) algorithm. It is a novel multi-robot patrolling approach. In the simulations, LR-PT outperformed the existing methods by ensuring frequent patrols of all the locations of interest and enhancing the situational awareness of the base station. The robots independently select patrol targets based on locally available information. It integrates patrol requirements and the urgency of reporting mission progress to base stations into a unified utility function. This locality also contributes to the robustness against communication constraints and robot failures, as demonstrated in this study. The algorithm further autonomously performs emergent area partitioning. This can prevent falling into local optima and realize a comprehensive patrol over the entire mission area. The simulation results demonstrate the superior performance of LR-PT for multi-robot patrolling. It utilizes the advantages of swarm robotics and addresses real-world operational challenges.</p>
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Low-Thrust Optimal Trajectory Design for Mars Entry of a CubeSat-class Spacecraft Using AL-iLQR
KURATA Shoki, HIGUCHI Takehiro, OYAMA Akira
The 35th Workshop on JAXA Astrodynamics Symposium and Flight Mechanics 2025.7
Language：English Publishing type：Research paper (scientific journal) Joint Work
Review Papers 【 display / non-display 】
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Kobayashi Kazuho, Kobayashi Shohei, Ueno Seiya, Higuchi Takehiro
Journal of Robotics and Mechatronics 37 ( 4 ) 927 - 944 2025.8
Language：The in addition, foreign language Publishing type：Article, review, commentary, editorial, etc. (bulletin of university, research institution) Publisher：富士技術出版株式会社 Joint Work
<p>Patrolling with multiple robots enables efficient surveillance for detecting and managing undesirable situations. This necessitates improved patrol efficiency and operator situational awareness at base stations. An enhanced situational awareness enables operators to predict robot behavior, support recognition and decision-making, and execute emergency interventions. This paper presents the local reactive and partition (LR-PT) algorithm. It is a novel multi-robot patrolling approach. In the simulations, LR-PT outperformed the existing methods by ensuring frequent patrols of all the locations of interest and enhancing the situational awareness of the base station. The robots independently select patrol targets based on locally available information. It integrates patrol requirements and the urgency of reporting mission progress to base stations into a unified utility function. This locality also contributes to the robustness against communication constraints and robot failures, as demonstrated in this study. The algorithm further autonomously performs emergent area partitioning. This can prevent falling into local optima and realize a comprehensive patrol over the entire mission area. The simulation results demonstrate the superior performance of LR-PT for multi-robot patrolling. It utilizes the advantages of swarm robotics and addresses real-world operational challenges.</p>
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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
Awards 【 display / non-display 】
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SICE-ICASE International Joint Conference 2006 Young Author Award
2006.10
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ISTS Student Session JSASS President Award
2002
Grant-in-Aid for Scientific Research 【 display / non-display 】
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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
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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
Past of Collaboration and Commissioned Research 【 display / non-display 】
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SLIMプロジェクト
Offer organization: JAXA/ISAS Cooperative Research within Japan
Project Year： 2010.2 -
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UZUMEプロジェクト
Offer organization: JAXA/ISAS Cooperative Research within Japan
Project Year： 2020.12 -
Charge of on-campus class subject 【 display / non-display 】
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2026 Introduction to Aerospace Engineering
College of Engineering Science
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2026 Numerical Information Processing Ⅰ
College of Engineering Science
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2026 Aerospace Utilization Engineering Ⅱ
Interfaculty Graduate School of Innovative and Practical Studies
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2026 Aerospace Utilization Engineering Ⅰ
Interfaculty Graduate School of Innovative and Practical Studies
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2026 International Internship in Ocean and Space System Engineering
Graduate school of Engineering Science
Committee Memberships 【 display / non-display 】
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34th Astrodynamics Symposium
2024.7 Mediator
Committee type：Other
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33rd Astrodynamics Symposium
2023.7 Mediator
Committee type：Other
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JAXA/ISAS 第11期 宇宙⼯学委員会
2023.4 - 2025.3 委員
Committee type：Academic society
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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
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JAXA/ISAS 第10期 宇宙⼯学委員会 委員
2021.4 - 2023.3
Committee type：Academic society
Social Contribution(Extension lecture) 【 display / non-display 】
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高校生インターンシップ
Role(s)： Lecturer, Planner
横浜国立大学 2023.8
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IFAC2023 Citizens Forum
Role(s)： Planner, Logistic support
International Federantion of Automatic Control 2022.9 - 2023.7
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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