Kenichiro Nonaka

Profile Information

Affiliation: Professor (Special Assitant to the President, Director of Advanced Research Laboratories), Department of Mechanical Systems Engineering, Faculty of Science and Engineering, Tokyo City University
: (Concurrent)Graduate School Research Division in Engineering, Manufacturing Engineering, Tokyo City University, Graduate School of Engineering, Mecanical Systems Engineering

Degree: Doctor of Engineering(Tokyo Institute of Technology)

Researcher number: 30298012
ORCID ID: https://orcid.org/0000-0003-0532-0495
J-GLOBAL ID: 200901092316239749
researchmap Member ID: 5000042354

External link: http://www.cl.mse.tcu.ac.jp

Research Interests

Major Papers

Online simultaneous localization and mapping with parallelization for dynamic line segments based on moving horizon estimation

Haziq Muhammad, Yasumasa Ishikawa, Kazuma Sekiguchi, Kenichiro Nonaka

Artificial Life and Robotics, 2024
Bounded iteration for multiple box constraints on linear complementarity model predictive control and its application to vehicle steering control

Naoto Kawaguchi, Isao Okawa, Kenichiro Nonaka

SICE Journal of Control, Measurement, and System Integration, 16(1) 237-246, Jun 26, 2023 Peer-reviewedLast author
Compensation for low-frequency vibration in lateral control of truck by adaptive feed-forward cancellation

Shota Yabui, Motoya Suzuki, Shinichiro Fukazawa, Hiroshi Ebina, Toma Makino, Kenichiro Nonaka

Journal of Vibration and Control, 107754632311746-107754632311746, May 14, 2023 Peer-reviewed
Differential Flatness-Based Parameter Estimation for Suspended Load Drones

Eikyu Wataru, Sekiguchi Kazuma, Nonaka Kenichiro

Journal of Robotics and Mechatronics, 35(2) 408-416, Apr 20, 2023 Peer-reviewedLast author
Active sensing control improving SLAM accuracy for a vehicle robot

Kazuma Sekiguchi, Sota Wada, Kenichiro Nonaka

Artificial Life and Robotics, 28(1) 208-216, Nov 16, 2022 Peer-reviewedLast author
Model predictive control for mobile manipulators considering the mobility range and accuracy of each mechanism

Kento Misawa, Fuguo Xu, Kazuma Sekiguchi, Kenichiro Nonaka

Artificial Life and Robotics, Oct 7, 2022 Peer-reviewedCorresponding author
Stochastic model predictive braking control for heavy-duty commercial vehicles during uncertain brake pressure and road profile conditions

Ryota Nakahara, Kazuma Sekiguchi, Kenichiro Nonaka, Masahiro Takasugi, Hiroki Hasebe, Kenichi Matsubara

Control Theory and Technology, 20(2) 248-262, May, 2022 Peer-reviewed
Stochastic Model Predictive Obstacle Avoidance with Velocity Reduction in Accordance with Chance Constraints in Crowded Environments

Ryuichi Maki, Isao Okawa, Kenichiro Nonaka

International Journal of Automotive Engineering, 13(3) 114-121, 2022 Peer-reviewedLast authorCorresponding author
Feedback Control for a Drone with a Suspended Load via Hierarchical Linearization

Kazuma Sekiguchi, Wataru Eikyu, Kenichiro Nonaka

Journal of Robotics and Mechatronics, 33(2) 274-282, Apr 20, 2021 Peer-reviewed
Linear complementarity model predictive control with limited iterations for box-constrained problems

Isao Okawa, Kenichiro Nonaka

Automatica, 125 109429-109429, Mar, 2021 Peer-reviewedLast author
Model Predictive Braking Control for Heavy-Duty Commercial Vehicles Considering Response Delay of Air-Brake

Ryota Nakahara, Kazuma Sekiguchi, Kenichiro Nonaka, Masahiro Takasugi, Hiroki Hasebe, Kenichi Matsubara

International Journal of Automotive Engineering, 11(4) 177-184, Nov, 2020 Peer-reviewed
Model Predictive Steering Control with Flexible Lane Crossing Considering Nearby Vehicles

Ryuichi Maki, Isao Okawa, Kenichiro Nonaka

International Journal of Automotive Engineering, 11(3) 136-142, Sep, 2020 Peer-reviewedLast author
Optimal configuration control of planar leg/wheel mobile robots for flexible obstacle avoidance

Takahashi, N., Shibata, N., Nonaka, K.

Control Engineering Practice, 101 104503-104503, Aug, 2020 Peer-reviewedLast authorCorresponding author
Moving Horizon Estimation with Probabilistic Data Association for Object Tracking Considering System Noise Constraint

Tomoya Kikuchi, Kenichiro Nonaka, Kazuma Sekiguchi

Journal of Robotics and Mechatronics, 32(3) 537-547, Jun 20, 2020 Peer-reviewed
Optimal trajectory generation with direct acceleration reshaping for autonomous vehicles

Isao OKAWA, Yoshihide MIZUSHIMA, Kenichiro NONAKA

Mechanical Engineering Journal, 7(4) 19-00632, 2020 Peer-reviewed

Research Areas

Manufacturing technology (mechanical, electrical/electronic, chemical engineering) / Control and systems engineering /

Education

Professional Memberships

Presentations

129

Pedestrian Tracking Accommodating Point-Cloud Displacement Between Multiple LiDARs Based on Joint Probabilistic Data Association Filter

Tomoki Ashiwa, Shogo Yamada, Ryota Narita, Manami Adachi, Kazuma Sekiguchi, Kenichiro Nonaka

2024 IEEE/SICE International Symposium on System Integration, SII 2024, 2024
Urban Fire Model Reflecting Detailed Real-Time Weather Information

Haruka Sawada, Kazuma Sekiguchi, Kenichiro Nonaka

2024 IEEE/SICE International Symposium on System Integration, SII 2024, 2024
Simultaneous Object Tracking and Shape Reproduction Using LiDAR Point Cloud Data

Ryota Narita, Kazuma Sekiguchi, Kenichiro Nonaka

2024 IEEE/SICE International Symposium on System Integration, SII 2024, 2024
Improved Vehicle Localization Based on Moving Horizon Estimation with Node Constraints

Ryusei Toma, Kenichiro Nonaka, Kazuma Sekiguchi

2022 IEEE/SICE International Symposium on System Integration, SII 2022, 2022
Model Predictive Obstacle Avoidance Control for an Electric Wheelchair in Indoor Environments Using Artificial Potential Field Method

Hibiki Matsuura, Kenichiro Nonaka, Kazuma Sekiguchi

2022 IEEE/SICE International Symposium on System Integration, SII 2022, 2022
LMI-based Control Synthesis for a Leg/Wheel Mobile Robot

Daiki Kanai, Kenichiro Nonaka, Kazuma Sekiguchi

Proceedings of 2022 SICE International Symposium on Control Systems, SICE ISCS 2022, 2022
Estimation of pedestrian pose and velocity considering arm swing using point-cloud data

Masato Matsuyama, Kenichiro Nonaka, Kazuma Sekiguchi

2021 60th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2021, Sep 8, 2021
Nonlinear control for the extended model of the load-suspended UAV based on the experiments

Wataru Eikyu, Kazuma Sekiguchi, Kenichiro Nonaka

IFAC-PapersOnLine, 2021
Model predictive formation control for quadcopters with towing cables

Sota Wada, Kazuma Sekiguchi, Kenichiro Nonaka

2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2020, Sep 23, 2020
Visual Object Tracking by Moving Horizon Estimation with Probabilistic Data Association

Tomoya Kikuchi, Kenichiro Nonaka, Kazuma Sekiguchi

Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020, Jan, 2020
Autonomous Patrol and Invader Chasing with Multiple Quadcopters by Coverage Control in Complex Environments

Nagomu Takeuchi, Kazuma Sekiguchi, Kenichiro Nonaka

Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020, Jan, 2020
Layer Structured Multiple-UAV System Mixing Centralized and Distributed Agents

Ryotaro Sugano, Nagomu Takeuchi, Kazuma Sekiguchi, Kenichiro Nonaka

Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020, Jan, 2020
Robust object tracking with continuous data association based on artificial potential moving horizon estimation

Ryoya Abe, Tomoya Kikuchi, Kenichiro Nonaka, Kazuma Sekiguchi

IFAC-PapersOnLine, 2020
Economic Model Predictive Control considering Electric Energy Balance for Exploration Rovers

Ryo Nishikawa, Shotaro Nakahara, Naoki Takahashi, Kenichiro Nonaka, Kazuma Sekiguchi

2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2019, Sep, 2019
Coverage Control for Autonomous Patrol and Invader Detection using Quadcopters with Herarchical Linearization

Nagomu Takeuchi, Masataka Naruse, Kazuma Sekiguchi, Kenichiro Nonaka

2019 58th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2019, Sep, 2019
Model Predictive Obstacle Avoidance Control Suppressing Expectation of Relative Velocity against Obstacles

Koji Shibata, Kenichiro Nonaka, Kazuma Sekiguchi

CCTA 2019 - 3rd IEEE Conference on Control Technology and Applications, Aug, 2019
Autonomous Patrol and Invader Detection by Coverage Controlled Quadcopters

Nagomu Takeuchi, Masataka Naruse, Kazuma Sekiguchi, Kenichiro Nonaka

2019 12th Asian Control Conference, ASCC 2019, Jun, 2019
Comparative Experiments of Moving Horizon Estimation based SLAM in Indoor Environment

Takahiro Kasahara, Koushi Tsuno, Kenichiro Nonaka, Kazuma Sekiguchi

2019 12th Asian Control Conference, ASCC 2019, Jun, 2019
Optimal Excavation considering Operation Progress using Model Predictive Control for Hydraulic Excavators

Yusuke Eguchi, Kenichiro Nonaka, Kazuma Sekiguchi, Katsumasa Suzuki

2019 12th Asian Control Conference, ASCC 2019, Jun, 2019
Continuous Marker Association utilizing Potential Function for Motion Capture Systems

Tomoya Kikuchi, Koushi Tsuno, Kenichiro Nonaka, Kazuma Sekiguchi

Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019, Apr, 2019

Research Projects

Dynamic Pedestrian Flow Management Method Focusing on Small Grouping of Walking Crowds and Layered Crossing Phenomena

Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), Grant-in-Aid for Scientific Research (C), Japan Society for the Promotion of Science, Apr, 2020 - Mar, 2023

Hideaki Takayanagi, Hideo Miyachi, Kenichiro Nonaka
Real-time SLAM for Dynamic Environments

Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B), Grant-in-Aid for Scientific Research (B), Japan Society for the Promotion of Science, Apr, 2019 - Mar, 2022

Kenichiro Nonaka, Kazuma Sekiguchi, Harutoshi Ogai
Cooperative and Distributed Model Model Predictive Control for Leg / Wheel Mobile Robots

Grant-in-Aid for Scientific Research C, 2015 - 2017

Kenichiro Nonaka
Implementation of Model Predictive Control into embedded CPU and Application to Mobile Robots

Grant-in-Aid for Scientific Research C, 2012 - 2015

Kenichiro Nonaka
A Study on the optimal wheel allocation for leg/wheel mobile robots

Grant-in-Aid for Scientific Research C, Grant-in-Aid for Scientific Research (C), Japan Society for the Promotion of Science, 2009 - 2012

Kenichiro Nonaka
開ループ振動安定化制御による、電磁気MEMSリニアアクチュエータの可動範囲の拡張

Grant-in-Aid for Young Scientists (B), 2002 - 2003

Kenichiro Nonaka
Sliding Mode Robust Control of Vehicles
Open Loop Oscillatory Stabilization Control of Electromechanical Systems
Control of Wheel/Leg Mobile Robots

Misc.

Simultaneous Object Tracking and Shape Reproduction Using LiDAR Point Cloud Data

Ryota Narita, Kazuma Sekiguchi, Kenichiro Nonaka

2024 IEEE/SICE International Symposium on System Integration, SII 2024, 490-495, 2024
Urban Fire Model Reflecting Detailed Real-Time Weather Information

Haruka Sawada, Kazuma Sekiguchi, Kenichiro Nonaka

2024 IEEE/SICE International Symposium on System Integration, SII 2024, 1411-1416, 2024
Pedestrian Tracking Accommodating Point-Cloud Displacement Between Multiple LiDARs Based on Joint Probabilistic Data Association Filter

Tomoki Ashiwa, Shogo Yamada, Ryota Narita, Manami Adachi, Kazuma Sekiguchi, Kenichiro Nonaka

2024 IEEE/SICE International Symposium on System Integration, SII 2024, 881-887, 2024
Moving obstacle avoidance control by fuzzy potential method and model predictive control

Yuuki Nishio, Kenichiro Nonaka, Kazuma Sekiguchi

2017 Asian Control Conference, ASCC 2017, 2018- 1298-1303, Feb 7, 2018 Peer-reviewed
Moving horizon velocity estimation for caster odometer on uneven ground

Naoto Ogawa, Kenichiro Nonaka, Kazuma Sekiguchi

2017 Asian Control Conference, ASCC 2017, 2018- 2630-2635, Feb 7, 2018 Peer-reviewed
Energy conserving vehicle motion control for electric vehicle equipped with multiple drive motors

Takatsugu Oda, Kenichiro Nonaka, Kazuma Sekiguchi

2017 Asian Control Conference, ASCC 2017, 2018- 418-423, Feb 7, 2018 Peer-reviewed
Avoidance of singular localization environment using model predictive control for mobile robots

Masaki Koizumi, Kenichiro Nonaka, Kazuma Sekiguchi

2017 Asian Control Conference, ASCC 2017, 2018- 2866-2871, Feb 7, 2018 Peer-reviewed
Optimal path planning utilizing dissipation function based on terrain elevation map for lunar rovers

Masafumi Saito, Kenichiro Nonaka, Kazuma Sekiguchi

2017 Asian Control Conference, ASCC 2017, 2018- 394-399, Feb 7, 2018 Peer-reviewed
Experimental verification of formation control by model predictive control considering collision avoidance in three dimensional space with quadcopters

Kenta Yamamoto, Kazuma Sekiguchi, Kenichiro Nonaka

2017 Asian Control Conference, ASCC 2017, 2018- 1602-1607, Feb 7, 2018 Peer-reviewed
Model Predictive Obstacle Avoidance Control for Vehicles with Automatic Velocity Suppression using Artificial Potential Field

Koji Shibata, Naoki Shibata, Kenichiro Nonaka, Kazuma Sekiguchi

IFAC-PapersOnLine, 51(20) 313-318, 2018
Model Predictive Load Distribution Control for Leg/Wheel Mobile Robots on Rough Terrain

Y. Morihiro, N. Takahashi, K. Nonaka, K. Sekiguchi

IFAC-PapersOnLine, 51(22) 441-446, 2018
Application of model error compensator based on FRIT to quadcopter

Hiroaki Endo, Ryo Aramaki, Kazuma Sekiguchi, Kenichiro Nonaka

1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017, 2017- 2088-2093, Oct 6, 2017 Peer-reviewed
Interference suppression control for interaction of two quad copters by model predictive control using the disturbance map

Takahiro Suyama, Kazuma Sekiguchi, Kenichiro Nonaka

1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017, 2017- 331-336, Oct 6, 2017 Peer-reviewed
3B01 Improvement of Teaching Technical Writing and Presentation Skills by Introducing a Learning Management System

WATANABE Rikio, NONAKA Kenichiro

Proceedings of Annual Conference of Japanese Society for Engineering Education, 2017 430-431, 2017
Longitudinal Force Distribution Control for Mobile Robot using Identified Wheel Model based on Terramechanics

Yoshikawa Hiroki, Oda Takatsugu, Kenichiro Nonaka, Kazuma Sekiguchi

Proceedings of the Japan Joint Automatic Control Conference, 60 1134-1139, 2017
Nonlinear system identification of quadcopter by using Unscented Kalman Filter

Souma Atsushi, Nonaka Kenichiro, Sekiguchi Kazuma

Proceedings of the Japan Joint Automatic Control Conference, 60 1159-1166, 2017
Simultaneous Localization and Mapping using Laser Range Sensor Based on Moving Horizon Estimation in Partially Known Environment

Tsuno Koushi, Koizumi Masaki, Nonaka Kenichiro, Sekiguchi Kazuma

Proceedings of the Japan Joint Automatic Control Conference, 60 1186-1189, 2017
Energy conserving motion control for Electric vehicles using offline velocity optimization balancing travel time and energy consumption

Oda Takatsugu, Nonaka Kenichiro, Sekiguchi Kazuma

Proceedings of the Japan Joint Automatic Control Conference, 60 1181-1185, 2017
Experiment of Avoiding Singular Environment for Mobile Robots by Considering Fisher Information on Localization

Koizumi Masaki, Nonaka Kenichiro, Sekiguchi Kazuma

Proceedings of the Japan Joint Automatic Control Conference, 60 821-825, 2017
Distributed Model Predictive Control Suppressing Error of Constraints of Body for Leg/Wheel Mobile Robots

SHIBATA Naoki, NONAKA Kenichiro, SEKIGUCHI Kazuma

Proceedings of the Japan Joint Automatic Control Conference, 60 1653-1657, 2017

Committee Memberships

2006 - Present

委員(2006～2008)，幹事(2009～2010)，副主査(2011～2012)，主査(2013～2014), 計測自動制御学会制御部門
2010 - 2012

委員(2011年)，幹事（2012年）, 計測自動制御学会制御部門理論部会
2010 - 2012

Committee member, The Society of Instrument and Control Engineers
2010 - 2011

Publication Chair, SICE Annual Conference 2011
2010 - 2011

Publication Chair, SICE Annual Conference 2011
2009 - 2010

Committee Member, IEEE Conference on Control Applications
2009 - 2010

Committee Member, IEEE Conference on Control Applications
2007 - 2007

委員, 機械学会
2007 - 2007

Comittee, The Tenth Conference on Motion and Vibration Control
2007

委員, 計測自動制御学会
2007

Comittee member, The Society of Instrument and Control Engineers
2005 - 2006

委員, 計測自動制御学会
2005 - 2006

Associate editor of Journal, The Society of Instrument and Control Engineers
2006

Secretary, The Society of Instrument and Control Engineers

Books and Other Publications

日本シミュレーション学会編

コロナ社, 2012 (ISBN: 9784339024586)
Simulation Dictionary

Corona publishing Co., Ltd., 2012 (ISBN: 9784339024586)
技術レポート作成と発表の基礎技法

コロナ社, 2008
A Primer of Technical Writing and Presentation

CORONA Publishing Co., LTD., 2008
動的システムのモデリングと解析

東京電機大学出版, 2000
Modeling and Analysis of Dynamical Systems

Toukyo Denki University Pub., 2000
Variable Structure Systems Sliding Mode and Nonlinear Control

Springer, 1999
Variable Structure Systems Sliding Mode and Nonlinear Control

Springer, 1999

Profile Information

Research Interests

Major Papers

Research Areas

Education

Professional Memberships

Presentations

Research Projects

Misc.

Committee Memberships

Books and Other Publications

Works

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Coauthors