Updated on 2024/12/26

写真a

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

Degree 1

  1. Doctor of Engineering （ 2024.3   Nagoya University ） 

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Research Interests 5

  1. 運動計画

  2. モデル予測制御

  3. 強化学習

  4. 知能ロボット

  5. 自律移動ロボット

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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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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 13

  1. 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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  2. 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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  3. 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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  4. 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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  5. 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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  6. 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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  7. 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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  8. 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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  9. 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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  10. 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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  11. 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     2022.10

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    Publishing type：Research paper (scientific journal)  

    DOI： 10.1109/LRA.2022.3219022

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  12. 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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  13. 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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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

    arXiv

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

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KAKENHI (Grants-in-Aid for Scientific Research) 3

  1. 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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  2. 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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  3. 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

    J-GLOBAL

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