Journal Papers

  1. 入田 隆, 滑川 徹
    計測自動制御学会論文集, Vol. 51, No. 12, pp. 822-828, 2015.
  2. 増井 健治, 高村 俊,滑川 徹
    計測自動制御学会論文集, Vol.51, No.3, pp. 570-578, 2015.
  3. Yasuhiro Kuriki and Toru Namerikawa
    “Formation Control with Collision Avoidance for a Multi-UAV System Using Decentralized MPC and Consensus-Based Control”
    SICE Journal of Control, Measurement, and System Integration, Vol. 8, No. 4, pp. 285-294, July 2015.
  4. Toru Namerikawa, Norio Okubo, Ryutaro Sato, Yoshihiro Okawa and Masahiro Ono
    “Real-Time Pricing Mechanism for Electricity Market with Built-in Incentive for Participation”
    IEEE Transaction on Smart Grid , Vol. 6, No. 6, pp. 2714-2724, 2015
  5. Yoshihiro Okawa and Toru Namerikawa
    “Distributed dynamic pricing based on demand-supply balance and voltage phase difference in power grid”
    Control Theory and Technology, Vol. 13, No. 2, pp. 90–100, May 2015
  6. 徳本 晋一朗,入田 隆, 滑川 徹
    計測自動制御学会論文集, Vol.51, No.3, pp. 206-213, 2015.
  7. 石川友規,小嶋昂明, 滑川 徹
    “JIT モデリングに基づくカルマンフィルタによる短期風力発電量予測”
    電気学会論文誌C, Vol.135, No.1, pp.81–89, 2015.
    “Optimal Pricing Algorithm in the Electricity Market with Battery and Accumulator and Demand–Supply Balancing “
    Electrical Engineering in Japan, Vol. 191, No. 4, pp.8–18, 2015.
  9. Nur Aqilah Othman, Hamzah Ahmad, and Toru Namerikawa
    “Sufficient Condition for Estimation in Designin H∞ Filter-Based SLAM “
    Hindawi Publishing Corporation Mathematical Problems in Engineering, Volume 2015.

International Conference Papers

  1. Kenji Masui and Toru Namerikawa
    “Load Frequency Control of a Microgrid based on H∞ Control Considering Response Speed of Generators”
    The 54th IEEE Conference on Decision and Control, Osaka, Japan (CDC2015), pp. 5895-5902, Dec. 15-18, 2015.
  2. Yoshihiro Okawa and Toru Namerikawa
    “Regional Demand–Supply Management based on Dynamic Pricing in Multi-period Energy Market”
    The 54th IEEE Conference on Decision and Control, Osaka, Japan (CDC2015), pp. 7201-7206, Dec. 15-18, 2015.
  3. Itazuri Kazuki and Toru Namerikawa
    Flocking Control of a Leader-follower System considering Connectivity Maintenance
    SWARM 2015,pp.285-292, Kyoto university, Oct. 28-30, 2015.
  4. Shouhei Mori and Toru Namerikawa
    LMI-based Formation Control Considering Disconnection of Network Links for a Multi-UAV system
    SWARM 2015,pp.457-464,Kyoto University, Oct. 28-30, 2015.
  5. Takaaki Kojima and Toru Namerikawa
    “Image-based Position Estimation of UAV using Kalman Filter”
    The 2015 IEEE Multi-Conference on Systems and Control (MSC2015),pp.406-411, Sydney, Australia, Sep. 21-23, 2015.
  6. Yoshihiro Okawa and Toru Namerikawa
    “Distributed Dynamic Pricing with Alternating Decision Making of Market Players”
    SICE Annual Conference 2015,pp.1098-1103, Hangzhou, China, Jul. 28-30, 2015.
  7. Swee Ho Tang, Takaaki Kojima, Toru Namerikawa, Che Fai Yeong and Eileen Lee Ming Su
    “Unscented Kalman Filter for Position Estimation of UAV by using Image Information”
    SICE Annual Conference 2015,pp.859-864, Hangzhou, China, Jul. 28-30, 2015.
  8. Takashi Irita and Toru Namerikawa
    “Decentralized Fault Detection of Multiple Cyber Attacks in Power Network via Kalman Filter”
    The 14th European Control Conference (ECC2015),pp.3185-3190, Linz, Austria, Jul. 15-17, 2015.
  9. Yoshihiro Okawa and Toru Namerikawa
    “Dynamic Electricity Pricing via the H-infinity Control Considering Uncertainties in Market Participants’ Behavior”
    The 14th European Control Conference (ECC2015),pp.1058-1063, Linz, Austria, Jul. 15-17, 2015.
  10. Yasuhiro Kuriki and Toru Namerikawa
    “Formation Control with Collision Avoidance for a Multi-UAV System using Decentralized MPC and Consensus-based Control”
    The 14th European Control Conference (ECC2015),pp.3084-3089, Linz, Austria, Jul. 15-17, 2015.
  11. Ryutaro Sato and Toru Namerikawa
    “Power System Stabilization by Direct Load Control Based on Strategy-Proofness and Individual Rationality”
    2015 American Control Conference (ACC2015),pp.5913-5918, Chicago, IL, Jul. 1-3, 2015.
  12. Tomoki ishikawa and Toru Namerikawa
    “Short-Term Wind Power Prediction via Kalman Filter ,”
    IEEJ International Workshop on Sensing, Actuation, and Motion Control,pp.1-6, Nagoya, Japan, March 9-10, 2015
  13. Yasuhiro Kuriki,Toru Namerikawa
    “Experimental Validation of Cooperative Formation Control with Collision Avoidance for a Multi-UAV System”
    Proceedings of the 6th International Conference on Automation, Robotics and Applications, 2015.

Domestic Conference Papers

  1. 大川 佳寛,滑川 徹
  2. 板摺 一貴,滑川 徹
  3. 井山 仁志,須田 貴俊, 滑川 徹
  4. 須田 貴俊,滑川 徹
  5. 森 翔平, 栗城 康弘, 滑川 徹
    第14回「運動と振動の制御」シンポジウム, 栃木県総合文化センター, 2015年6月22日~24日
  6. 入田 隆, 滑川 徹
    第58回自動制御連合講演会, 神戸大学 六甲台第2キャンパス, 2015年11月14~15日
  7. 滑川 徹, 飯野 穣, 畑中 健志
    第58回自動制御連合講演会, 神戸大学 六甲台第2キャンパス, 2015年11月14~15日
  8. 名取 滉平, 滑川 徹
    第58回自動制御連合講演会, 神戸大学 六甲台第2キャンパス, 2015年11月14~15日
  9. 篠原 巧, 滑川 徹
    第58回自動制御連合講演会, 神戸大学 六甲台第2キャンパス, 2015年11月14~15日
  10. 大川 佳寛, 滑川 徹
    第58回自動制御連合講演会, 神戸大学 六甲台第2キャンパス, 2015年11月14~15日

Invited Talks

Abstract: Cooperative control technologies have enormous potential for application to vehicles such as unmanned aerial vehicles (UAVs), artificial satellites, and autonomous mobile observation robots, with rapid advances in computer, network and sensor technologies. The technologies have the advantage in fault tolerance, efficiency and cost. Cooperative control issues for a multi-UAV system are considered in this talk. Specifically, a decentralized cooperative control strategy is proposed for formation flying with collision avoidance capability. We apply a consensus algorithm and leader-follower structure to a group of the vehicles expressed as a first-order system so that they can cooperatively fly in formation. The leader provides each UAV with commands to generate a geometric configuration of the formation. Then, a decentralized cooperative control strategy that UAVs fly in formation is proposed. How to model a UAV and multi-UAV system is stated and the control objective, which is to realize formation flying in three-dimensional space, is defined. Conditions of control gains for the asymptotic stability are derived for the formation control problem. The formation control algo-rithm can accept any network structure that contains a directed spanning tree. Furthermore, collision avoidance issues for a multi-UAV system controlled by the cooperative formation control algorithm are considered. Convergence is guaranteed even when the control algorithms for cooperative formation and collision avoidance are simultaneously applied to the UAVs. Finally experiments are performed on a group of UAVs to validate the proposed control algorithms.


Invited Articles


  • Doctor

  • Master

    1. 池上 裕人,
      ” マッチング理論に基づくアグリゲータによる電力需要量管理,”
      滑川研究室, 慶應義塾大学, 2015年度.
    2. 入田 隆,
      滑川研究室, 慶應義塾大学, 2015年度.
    3. 高村 俊,
      滑川研究室, 慶應義塾大学, 2015年度.
    4. 名取 滉平,
      滑川研究室, 慶應義塾大学, 2015年度.
    5. 森 翔平,
      滑川研究室, 慶應義塾大学, 2015年度.
  • Bachelor

    1. 相澤 匠摩,
      滑川研究室, 慶應義塾大学, 2015年度.
    2. 篠原 巧,
      滑川研究室, 慶應義塾大学, 2015年度.
    3. 中西 啓晃,
      滑川研究室, 慶應義塾大学, 2015年度.
    4. 永見 健太郎,
      滑川研究室, 慶應義塾大学, 2015年度.
    5. 林 靖大,
      滑川研究室, 慶應義塾大学, 2015年度.
    6. 平中 拓人,
      滑川研究室, 慶應義塾大学, 2015年度.