Establish autonomous mobility for planetary exploration robots, primarily focusing on perception and planning under uncertainty.
Keywords: integrated planning and learning, path/motion planning, probabilistic inference, machine learning, autonomous mobile robots, planetary exploration
Keio University, Japan
Ph.D. in Mechanical Engineering (Sep. 2021 - Present)
Advisor: Prof. Genya Ishigami
Oregon State University, The United States
M.S. in Robotics (Sep. 2019 - Aug. 2021)
Advisor: Prof. Burak Sencer
Tohoku University, Japan
M.Eng. in Aerospace Engineering (Apr. 2017 - Mar. 2019)
Advisor: Prof. Kazuya Yoshida and Prof. Kenji Nagaoka
Kobe University, Japan
B.Eng. in Mechanical Engineering (Apr. 2013 - Mar. 2017)
Advisor: Prof. Tsuyoshi Kawanami
Field AI, The United States
Project: Robotic Autonomy in Challenging Environments
Oct. 2023 - Present
Research Intern, advised by Dr. David D. Fan
Working on establishing reliable robotics autonomy in challenging environments.
OMRON SINIC X Corporation, Japan
Project: Study on Leveraging Machine Learning in Path Planning Algorithms
Oct. 2022 - Mar. 2023
Part-time, advised by Dr. Ryo Yonetani and Dr. Tatsunori Taniai
Worked on learning-based path planning for planetary rovers (will be presented).
Project: Risk-aware Path Planning via Probabilistic Fusion of Traversability Prediction
Jun. 2022 - Sep. 2022
Research Intern, advised by Dr. Ryo Yonetani and Dr. Tatsunori Taniai
Proposed a new path planning method robust against erroneous traversability prediction via ML models.
Space Robotics Group, Keio University, Japan
Project: Active Traversability Learning via Risk-aware Information Gathering
Sep. 2021 - Mar. 2022
JSPS DC1 Research Fellow, advised by Prof. Genya Ishigami
Proposed a new sequential decision-making algorithm to learn latent traversability for planetary exploration rovers on unexplored terrains.
Designed a sampling-based informative path planning algorithm with probabilistic risk inference.
Manufacturing Process Control Laboratory, Oregon State University, The United States
Project: Machining Cycle-time Prediction by Data-driven CNC Interpolator Modeling
Sep. 2019 - Aug. 2021
Graduate Research Assistant, advised by Prof. Burak Sencer
Developed a cycle-time prediction method in combination with an analytical dynamics model and ML architecture for CNC machines.
Space Robotics Laboratory, Tohoku University, Japan
Project: Machine Learning-based Slip Prediction for a Wheeled Mobile Robot
Oct. 2017 - Mar. 2019
Advised by Prof. Kazuya Yoshida and Prof. Kenji Nagaoka
Presented a vision-based approach with machine learning for predicting wheel slip with application to planetary exploration.
Developed a testbed of a four-wheeled space exploration rover using ROS.
Project: Construction of a GPS Simulator for a Satellite Ground Evaluation Environment
Apr. 2017 - Sep. 2017
Advised by Prof. Toshinori Kuwahara
Implemented and verified a Kalman-filter-based micro-satellite trajectory estimation algorithm using the simulator.
Laboratory of Energy Conversion Engineering, Kobe University, Japan
Project: Development and Evaluation of Soft PCM Capsule
Apr. 2016 - Mar. 2017
Advised by Prof. Tsuyoshi Kawanami
Built a soft capsule containing phase change material and verified the capacity to keep thermal energy.
Teaching Assistant - Oregon State University, The United States
ME 413: Computer-aided Design and Manufacturing
IEEE International Conference on Robotics and Automation (ICRA) 2023, 202
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022, 2023
IEEJ Transactions on Electrical and Electronic Engineering
Awards and Fellowships
Research Encouragement Scholarship for Graduate Students, Sponsored by Keio University
JEES/Mitsubishi Corporation Scholarship, Sponsored by JEES and Mitsubishi Corporation
Apr. 2023 - Aug. 2024
Fujiwara Scholarship, Sponsored by Keio University
Oct. 2021 - Mar. 2022
NAMRC 49 and MSEC 2021 Student Support Award, Sponsored by National Science Foundation (NSF)
Programming: Python, MATLAB and Simulink, C, C++, Julia
Machine Learning: PyTorch, scikit-learn
Computer Vision: OpenCV, Point Cloud Library
Robotics: ROS, Raspberry Pi, Arduino
Other Software: SolidWorks, LaTeX
Operating Systems: Ubuntu, Mac OS, Windows
Language: English, Japanese