Updated on 2025/03/24

写真a

 
HONDA Kohei
 
Organization
Graduate School of Engineering Mechanical Systems Engineering 2 Assistant Professor
Graduate School
Graduate School of Engineering
Undergraduate School
School of Engineering Mechanical and Aerospace Engineering
Title
Assistant Professor
External link

Degree 1

  1. Doctor of Engineering （ 2024.3   Nagoya University ） 

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Research Interests 5

  1. モデル予測制御

  2. 強化学習

  3. 知能ロボット

  4. 自律移動ロボット

  5. 運動計画

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Research Areas 1

  1. Informatics / Robotics and intelligent system

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Research History 4

  1. Nagoya University   Graduate School of Engineering   Assistant Professor

    2024.12

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    Country：Japan

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  2. CyberAgent AI Lab   Activity Understanding Team   Research Scientist

    2024.12

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    Country：Japan

    Notes：Cross-appointed

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  3. Nagoya University   Graduate School of Engineering

    2024.4 - 2024.11

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  4. University of California, Berkeley   Department of Mechanical Engineering   Visiting Scholar

    2024.3 - 2024.7

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    Country：United States

    Notes：Research fellowship for the Overseas Challenge Program for Young Researchers (JSPS)

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Education 3

  1. Nagoya University   Graduate School of Engineering   Mechanical Systems Engineering

    2021.4 - 2024.3

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  2. Nagoya University   Graduate School of Engineering   Mechanical Systems Engineering

    2019.4 - 2021.3

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  3. Nagoya Institute of Technology   Faculty of Engineering   Dept. of Electrical & Electronics Engineering

    2014.4 - 2019.3

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Committee Memberships 1

  1. Advanced Robotics   Associate Editor  

    2025.3   

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Awards 8

  1. システムインテグレーション部門若手奨励賞

    2024.12   計測自動制御学会  

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  2. ロボティクス・メカトロニクス講演会2023 分野融合研究優秀表彰

    2024.5   日本機械学会  

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  3. 2023年度 学術奨励賞 研究奨励賞

    2024.3   計測自動制御学会  

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  4. Control Systems Society Japan Young Researcher Award

    2024.3   IEEE  

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  5. 第10回計測自動制御学会 マルチシンポジウム 制御部門マルチシンポジウム賞 (基礎分野)

    2024.3   計測自動制御学会  

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  6. 第10回計測自動制御学会 マルチシンポジウム 制御部門奨励賞 (技術分野)

    2024.3   計測自動制御学会  

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  7. IEEE名古屋支部国際会議研究発表賞

    2021.3   IEEE  

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  8. 名古屋工業会賞

    2019.3   名古屋工業大学  

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Papers 25

  1. Towards Local Minima-free Robotic Navigation: Model Predictive Path Integral Control via Repulsive Potential Augmentation Reviewed

    Takahiro Fuke, Masafumi Endo, Kohei Honda, Genya Ishigami

    2025 IEEE/SICE International Symposium on System Integration (SII)     page： 1112 - 1117   2025.1

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    Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

    DOI： 10.1109/sii59315.2025.10871026

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  2. Switching Sampling Space of Model Predictive Path-Integral Controller to Balance Efficiency and Safety in 4WIDS Vehicle Navigation Reviewed

    Mizuho Aoki, Kohei Honda, Hiroyuki Okuda, Tatsuya Suzuki

    2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)     page： 3196 - 3203   2024.10

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    Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

    DOI： 10.1109/iros58592.2024.10802359

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  3. When to Replan? An Adaptive Replanning Strategy for Autonomous Navigation using Deep Reinforcement Learning

    Kohei Honda, Ryo Yonetani, Mai Nishimura, Tadashi Kozuno

    2024 IEEE International Conference on Robotics and Automation (ICRA)   Vol. 16   page： 6650 - 6656   2024.5

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    Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

    DOI： 10.1109/icra57147.2024.10611474

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  4. Spline-Interpolated Model Predictive Path Integral Control with Stein Variational Inference for Reactive Navigation

    Takato Miura, Naoki Akai, Kohei Honda, Susumu Hara

    2024 IEEE International Conference on Robotics and Automation (ICRA)   Vol. 155   page： 13171 - 13177   2024.5

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    Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

    DOI： 10.1109/icra57147.2024.10610501

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  5. Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering Vehicles

    Kohei Honda, Naoki Akai, Kosuke Suzuki, Mizuho Aoki, Hirotaka Hosogaya, Hiroyuki Okuda, Tatsuya Suzuki

    2024 IEEE International Conference on Robotics and Automation (ICRA)   Vol. 29   page： 7020 - 7026   2024.5

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    Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

    DOI： 10.1109/icra57147.2024.10611021

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  6. Model Predictive Path Integral Control for Multimodal Action Distributions Using Stein Variational Gradient Descent

    本田康平, 赤井直樹, 鈴木康介, 青木瑞穂, 細萱広高, 奥田裕之, 鈴木達也

    ロボティクスシンポジア予稿集   Vol. 29th (CD-ROM)   2024

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  7. Performance Verification of Predictive Control with Multi-Horizon Multi-Rate Prediction For Integrated Longitudinal and Lateral Vehicle Control

    KUAN Ching Lin, 本田康平, 奥田裕之, 鈴木達也

    計測自動制御学会制御部門マルチシンポジウム(CD-ROM)   Vol. 11th   2024

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  8. Autonomous Lane Change Task Planning Reflecting Passengers' Needs Using Large Language Models

    Atsuta Kazuki, Honda Kohei, Okuda Hiroyuki, Suzuki Tatsuya

    Proceedings of the Japan Joint Automatic Control Conference   Vol. 67   page： 847 - 852   2024

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    Language：Japanese   Publisher：The Japan Joint Automatic Control Conference  

    DOI： 10.11511/jacc.67.0_847

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  9. Bayesian Network-Based Probabilistic Constraints for Safe Autonomous Driving in Occlusion Environments

    Naoya Yamada, Kohei Honda, Hiroyuki Okuda, Tatsuya Suzuki, Yorie Nakahira

    2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)     2023.9

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    Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

    DOI： 10.1109/itsc57777.2023.10422408

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  10. Actual-Vehicle Verification of Automatic Parking in Narrow Spaces Considering Precise Collision Avoidance Constraints for Rectangular Objects

    Koki Hoshino, Kohei Honda, Mizuho Aoki, Hiroyuki Okuda, Tatsuya Suzuki

    2023 62nd Annual Conference of the Society of Instrument and Control Engineers (SICE)     2023.9

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    Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

    DOI： 10.23919/sice59929.2023.10354159

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  11. Multi-Horizon and Multi-Rate Model Predictive Control for Integrated Longitudinal and Lateral Vehicle Control

    Ching Lin Kuan, Kohei Honda, Hiroyuki Okuda, Tatsuya Suzuki

    2023 IEEE Intelligent Vehicles Symposium (IV)     2023.6

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    Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

    DOI： 10.1109/iv55152.2023.10186692

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  12. MPC Builder for Autonomous Drive: Automatic Generation of MPCs for Motion Planning and Control

    Kohei Honda, Hiroyuki Okuda, Tatsuya Suzuki, Akira Ito

    2023 IEEE Intelligent Vehicles Symposium (IV)     2023.6

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    Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

    DOI： 10.1109/iv55152.2023.10186711

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  13. Connection of nonlinear model predictive controllers for smooth task switching in autonomous driving

    Kohei Honda, Hiroyuki Okuda, Tatsuya Suzuki, Akira Ito

    Asian Journal of Control     2023.5

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    Publishing type：Research paper (scientific journal)  

    DOI： 10.1002/asjc.2892

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  14. An occlusion- and interaction-aware safe control strategy for autonomous vehicles

    Siddharth Gangadhar, Zhuoyuan Wang, Kofi Poku, Naoya Yamada, Kohei Honda, Yorie Nakahira, Hiroyuki Okuda, Tatsuya Suzuki

    IFAC-PapersOnLine   Vol. 56 ( 2 ) page： 7926 - 7933   2023

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    Publishing type：Research paper (international conference proceedings)   Publisher：Elsevier BV  

    DOI： 10.1016/j.ifacol.2023.10.315

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  15. Realization of Multiple Driving Tasks through Online Automatic Generation of Model Predictive Controllers

    本田康平, 奥田裕之, 鈴木達也, 伊藤章

    計測自動制御学会制御部門マルチシンポジウム(CD-ROM)   Vol. 10th   2023

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  16. Real car validation of model predictive automated parking considering shape-aware collision avoidance constraint

    星野航輝, 本田康平, 青木瑞穂, 奥田裕之, 鈴木達也

    自動制御連合講演会(CD-ROM)   Vol. 66th   2023

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  17. Obstacle Avoidance Control Based on Nonlinear MPC for All Wheel Driven In-Wheel EV in Steering Failure

    Mizuho Aoki, Kohei Honda, Hiroyuki Okuda, Tatsuya Suzuki, Akira Ito, Daisuke Nagasaka

    2022 IEEE 25th International Conference on Intelligent Transportation Systems (ITSC)     2022.10

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    Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

    DOI： 10.1109/itsc55140.2022.9922126

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  18. Generalized LOAM: LiDAR Odometry Estimation With Trainable Local Geometric Features

    Kohei Honda, Kenji Koide, Masashi Yokozuka, Shuji Oishi, Atsuhiko Banno

    IEEE Robotics and Automation Letters   Vol. 28th   2022.10

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    Publishing type：Research paper (scientific journal)  

    DOI： 10.1109/LRA.2022.3219022

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  19. Model Predictive Vehicle Speed Control for Mainlane Vehicles Considering Merging Vehicles

    寺野玲央, 本田康平, 奥田裕之, 鈴木達也

    自動車技術会大会学術講演会講演予稿集(Web)   Vol. 2022   2022

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  20. Comparative Study of Prediction Models for Model Predictive Path- Tracking Control in Wide Driving Speed Range

    Mizuho Aoki, Kohei Honda, Hiroyuki Okuda, Tatsuya Suzuki

    2021 IEEE Intelligent Vehicles Symposium (IV)     2021.7

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    Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

    DOI： 10.1109/iv48863.2021.9575868

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  21. Evaluation of Vehicle Prediction Models for Model Predictive Path-Tracking Control

    青木瑞穂, 本田康平, 奥田裕之, 鈴木達也

    自動車技術会大会学術講演会講演予稿集(Web)   Vol. 2021   2021

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  22. Switching method of non-linear model predictive controllers for flexible task execution

    奥田裕之, 本田康平, 鈴木達也

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)   Vol. 22nd   2021

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  23. Multi-task Model Predictive Control based on Continuation with Intermediate Mode

    Kohei Honda, Hiroyuki Okuda, Tatsuya Suzuki

    2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)     2020.9

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    Publishing type：Research paper (international conference proceedings)   Publisher：IEEE  

    DOI： 10.1109/itsc45102.2020.9294663

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  24. The Transition of model predictive controllers for smooth task switching

    HONDA Kohei, OKUDA Hiroyuki, SUZUKI Tatsuya

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)   Vol. 2020   page： 1A1-G08   2020

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    Language：Japanese   Publisher：The Japan Society of Mechanical Engineers  

    This paper presents a method to smoothly switch model predictive controllers which are designed for adaptive-cruise-control(ACC)/lane-keep and lane-change tasks. These controllers are defined by different state-spaces, constraints and cost functions. Thus, it can be occurred to violate the constraint when switching controllers. In our proposed method, we interpose an intermediate mode between two controllers to avoid such infeasibility. We demonstrate the effectiveness of the proposed method by a numerical simulation of the mode transition between Adaptive-Cruise-Control/Lane-Keep mode and Lane-Change mode.

    DOI： 10.1299/jsmermd.2020.1a1-g08

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  25. Realization of Simultaneous Decision Making, Path Planning and Motion Control for Lane-changing Based on Nonlinear Model Predictive Control

    本田康平, 奥田裕之, 鈴木達也

    自動車技術会大会学術講演会講演予稿集(CD-ROM)   Vol. 2020   2020

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MISC 1

  1. BenchNav: Simulation Platform for Benchmarking Off-road Navigation Algorithms with Probabilistic Traversability

    Masafumi Endo, Kohei Honda, Genya Ishigami

        2024.5

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    As robotic navigation techniques in perception and planning advance, mobile
    robots increasingly venture into off-road environments involving complex
    traversability. However, selecting suitable planning methods remains a
    challenge due to their algorithmic diversity, as each offers unique benefits.
    To aid in algorithm design, we introduce BenchNav, an open-source PyTorch-based
    simulation platform for benchmarking off-road navigation with uncertain
    traversability. Built upon Gymnasium, BenchNav provides three key features: 1)
    a data generation pipeline for preparing synthetic natural environments, 2)
    built-in machine learning models for traversability prediction, and 3)
    consistent execution of path and motion planning across different algorithms.
    We show BenchNav's versatility through simulation examples in off-road
    environments, employing three representative planning algorithms from different
    domains. https://github.com/masafumiendo/benchnav

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    Other Link： http://arxiv.org/pdf/2405.13318v1

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Research Project for Joint Research, Competitive Funding, etc. 1

  1. 不確実性を乗りこなす高速自律移動体の安全強化学習

    Grant number：JPMJAX24CN  2024.12 - 2027.3

    ACT-X 

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    Authorship：Principal investigator  Grant type：Competitive

    Grant amount：\4500000

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KAKENHI (Grants-in-Aid for Scientific Research) 4

  1. Safe Reinforcement Learning for High-Speed Autonomous Agents Under Uncertainty

    Grant number：JPMJAX24CN  2024.12 - 2027.3

    Japan Science and Technology Agency  ACT-X 

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    Authorship：Principal investigator 

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  2. 自律移動制御のための基盤モデルを用いたモデル予測制御器のオンライン自動生成

    2024.3 - 2024.7

    日本学術振興会  若手研究者海外挑戦プログラム 

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    Authorship：Principal investigator 

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  3. Online Automatic Generation of Model Predictive Controllers for Multiple Driving Tasks

    Grant number：23KJ1067  2023.4 - 2025.3

    Japan Society for the Promotion of Science  Grants-in-Aid for Scientific Research  Grant-in-Aid for JSPS Fellows

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  4. 交通弱者とのインタラクティブな運転を可能とする自動運転制御技術の創出

    2021.4 - 2024.3

    立石科学技術振興財団 

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    Authorship：Principal investigator 

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Industrial property rights 1

  1. 移動体の制御装置

    伊藤 章, 鈴木 達也, 奥田 裕之, 本田 康平

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    Applicant：株式会社J-QuAD DYNAMICS

    Application no：特願2021-158118  Date applied：2021.9

    Announcement no：特開2023-048674  Date announced：2023.4

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