Publications
- Kohji Tomita, Satoshi Murata, Sadayuki Tsugawa and Elizabeth
Stuck: Visual Navigation of an Autonomous Vehicle along a Line, Proceedings
of the Japan-U.S.A. Symposium on Flexible Automation, pp.
1321-1327, 1992.
- Sadayuki Tsugawa, Kohji Tomita, A. Hosaka and M. Taniguchi:
Steering Control Algorithms for Intelligent Vehicles with Machine
Vision, 12th World Congress International Federation of Automatic
Control, Vol. 5, pp. 483-488, 1993.
- Kohji Tomita, Satoshi Murata and Sadayuki Tsugawa: Preview
Lateral Control with Machine Vision for Intelligent Vehicle, Proceedings
of the Intelligent Vehicles '93 Symposium, pp. 467-472, 1993.
- Kohji Tomita, Takashi Tsuji and Shigeru Igarashi: Analysis of a
Software/Hardware System by Tense Arithmetic, Lecture Notes in
Computer Science, Vol. 792, pp. 188-205, Springer-Verlag, 1994.
- Kohji Tomita and Sadayuki Tsugawa: Visual Navigation of a
Vehicle along Roads: The Algorithm and Experiments, 1994 Vehicle
Navigation & Information Systems Conference Proceedings, pp.
419-424, 1994.
- Satoshi Murata, Haruhisa Kurokawa, Kohji Tomita and Shigeru
Kokaji: Self-Assembly of Mechanical System, Proceedings of the 2nd
Hamamatsu International Symposium on Biomolecular Mechanisms and
Photonics, pp. 1-3, 1995.
- Satoshi Murata, Haruhisa Kurokawa, Kohji Tomita and Shigeru
Kokaji: Self-Assembly Method for Mechanical Structure, Proceedings
of International Symposium on Artificial Life and Robotics, pp.
55-58, 1996.
- Shin Kato, Kohji Tomita and Sadayuki Tsugawa: Visual Navigation
along Reference Lines and Collision Avoidance for Autonomous Vehicles,
Proceedings of the 1996 IEEE Intelligent Vehicles Symposium , pp.
385-390, 1996.
- Shigeru Kokaji, Satoshi Murata, Haruhisa Kurokawa and Kohji
Tomita: Clock Synchronization Mechanisms for a Distributed Autonomous
System, Journal of Robotics and Mechatronics, Vol. 8, No. 5,
pp. 427-434, 1996.
- Kohji Tomita, Satoshi Murata, Eiichi Yoshida, Haruhisa Kurokawa
and Shigeru Kokaji: Reconfiguration Method for a Distributed Mechanical
System, 3rd International Symposium on Distributed Autonomous
Robotic Systems , Distributed Autonomous Robotic Systems 2
, Springer-Verlag, pp. 17-25, 1996.
- Eiichi Yoshida, Satoshi Murata, Kohji Tomita, Haruhisa Kurokawa
and Shigeru Kokaji: Self-Assembly of a Distributed Mechanical System,
Proceedings of International Symposium on System Life, pp.
93-99, 1997.
- Eiichi Yoshida, Satoshi Murata, Kohji Tomita, Haruhisa Kurokawa
and Shigeru Kokaji: Distributed Formation Control for a Modular
Mechanical System, Proceedings of the IEEE-RSJ International
Conference on Intelligent Robots and Systems (IROS '97), pp.
1090-1097, 1997.
- Sadayuki Tsugawa, Shin Kato and Kohji Tomita: A Lateral Control
Algorithm for Vision-Based Vehicles Applicable to Various Maneuvers,
4th World Congress on Intelligent Transport Systems, CD-ROM , 1997.
- Shin Kato, Kohji Tomita and Sadayuki Tsugawa: Lane-Change
Maneuvers for Vision-Based Vehicle, IEEE Conference on Intelligent
Transportation Systems, CD-ROM, 1997.
- Satoshi Murata, Haruhisa Kurokawa, Kohji Tomita and Shigeru
Kokaji: Self-Assembly Method for Mechanical Structure, Artificial
Life and Robotics , Vol. 1, pp. 111-115, 1997
- Tetsuya Mizutani, Shigeru Igarashi, Kohji Tomita and Masayuki
Shio: Representation of Discretely Controlled Continuous Systems in
Software-Oriented Formal Analysis, Advances in Computing Science -
ASIAN '97, Lecture Notes in Computer Science, Vol. 1345, pp.
110-120, Springer-Verlag, 1997.
- Satoshi Murata, Haruhisa Kurokawa, Eiichi Yoshida, Kohji Tomita
and Shigeru Kokaji: A 3-D Self-Reconfigurable Structure, Proceedings
of IEEE International Conference on Robotics and Automation (ICRA98) , pp. 432-439, 1998.
- Eiichi Yoshida, Satoshi Murata, Kohji Tomita, Haruhisa Kurokawa
and Shigeru Kokaji: Experiment of Self-repairing Modular Machine, Distributed Autonomous Robotic Systems 3,
pp. 119-128, Springer, 1998. (DARS98 Best Paper Award)
- Sadayuki Tsugawa, Masaaki Yanagiya and Kohji Tomita: Optimal
Design of Vision System for Lateral Control of Autonomous Vehicle, Proceedings
of 4th International Symposium on Advanced Vehicle Control 1998 (AVEC98)
, pp. 369-374, 1998.
- Shin Kato, Kohji Tomita and Sadayuki Tsugawa: Lane Departure
Detection with an Onboard Vision System, Proceedings of IEEE
Intelligent Vehicles Symposium 1998, pp. 74-79, 1998.
- Eiichi Yoshida, Satoshi Murata, Haruhisa Kurokawa, Kohji Tomita
and Shigeru Kokaji: A Distributed Reconfiguration Method for 3-D
Homogeneous Structure, Proceedings of IEEE-RSJ International
Conference on Intelligent Robots and Systems (IROS '98), pp.
852-859, 1998.
- Haruhisa Kurokawa, Satoshi Murata, Eiichi Yoshida, Kohji Tomita
and Shigeru Kokaji: A 3-D Self-Reconfigurable Structure and
Experiments, Proceedings of IEEE-RSJ International Conference on
Intelligent
Robots and Systems (IROS '98), pp. 860-865, 1998.
- Kohji Tomita, Shigeru Igarashi, Chiharu Hosono, Tetsuya Mizutani
and Sadayuki Tsugawa: Representations of Autonomous Realtime Systems.
Tensor N. S., Vol. 59, pp. 114-124, 1998.
- Satoshi Murata, Kohji Tomita, Eiichi Yoshida, Haruhisa Kurokawa
and Shigeru Kokaji: Self-Reconfigurable Robot - Module Design and
Simulation, Proceedings of 6th International Conference on
Intelligent Autonomous Systems (IAS-6), pp. 911-917, 1999.
- Satoshi Murata, Eiichi Yoshida, Haruhisa Kurokawa, Kohji Tomita
and Shigeru Kokaji: Self-Repairing Mechanical System, Proceedings
of SPIE Conference on Sensor Fusion and Decentralized Control in
Robotic Systems II , pp. 202-213, 1999.
- Masaaki Yanagiya, Kohji Tomita and Sadayuki Tsugawa: Effects of
Field of View on Lateral Control Performance in a Vision-Based
Autonomous Vehicle, JSAE Review, Vol. 20, No. 4, pp. 499-504,
1999.
- Eiichi Yoshida, Shigeru Kokaji, Satoshi Murata, Kohji Tomita and
Haruhisa Kurokawa: Miniaturized Self-Reconfigurable System using Shape
Memory Alloy, Proceedings of IEEE-RSJ International Conference on
Intelligent Robots and Systems (IROS '99), pp. 1579-1585, 1999.
- Eiichi Yoshida, Satoshi Murata, Kohji Tomita, Haruhisa Kurokawa
and Shigeru Kokaji: An Experimental Study on a Self-Repairing Modular
Machine, Robotics and Autonomous Systems, Vol. 29, No. 1, pp.
79-89, 1999.
- Eiichi Yoshida, Shigeru Kokaji, Satoshi Murata, Kohji Tomita and
Haruhisa Kurokawa: Miniature Self-Reconfigurable Modular Machine using
Shape Memory Alloy, Advanced Robotics, Vol. 13, No. 3, pp.
337-338, 1999.
- Kohji Tomita, Satoshi Murata, Haruhisa Kurokawa, Eiichi Yoshida
and Shigeru Kokaji: Self-Assembly and Self-Repair Method for a
Distributed Mechanical System, IEEE Transactions on Robotics and
Automation , Vol. 15, No. 6, pp. 1035-1045, 1999.
- Eiichi Yoshida, Satoshi Murata, Haruhisa Kurokawa, Kohji Tomita
and Shigeru Kokaji: A Distributed Method for Reconfiguration of 3-D
Homogeneous Structure, Advanced Robotics, Vol. 13, No. 4, pp.
363-380, 1999.
- Satoshi Murata, Eiichi Yoshida, Kohji Tomita, Haruhisa Kurokawa
and Shigeru Kokaji: Self-Reconfigurable Modular Robotic System, Proceedings
of International Workshop on Emergent Synthesis (IWES '99), pp.
113-118, 1999.
- Eiichi Yoshida, Shigeru Kokaji, Satoshi Murata, Kohji Tomita and
Haruhisa Kurokawa: Miniaturization of Self-Reconfigurable Robotic
System using Shape Memory Alloy Actuator, Journal of Robotics and
Mechatronics , Vol. 12, No. 2, pp. 96-102, 2000.
- Eiichi Yoshida, Satoshi Murata, Shigeru Kokaji, Kohji Tomita and
Haruhisa Kurokawa: Micro Self-Reconfigurable Robotic System using Shape
Memory Alloy, Distributed Autonomous Robotic Systems 4, pp.
145-154, SpringerVerlag, 2000.
- Haruhisa Kurokawa, Kohji Tomita, Eiichi Yoshida, Satoshi Murata
and Shigeru Kokaji: Motion Simulation of a Modular Robotic System,
2000 IEEE International Conference on Industrial Electronics, Control a
nd Instrumentation (IECON-2000), CD-ROM, 2000.
- Satoshi Murata, Eiichi Yoshida, Kohji Tomita, Haruhisa Kurokawa,
Akiya Kamimura and Shigeru Kokaji: Hardware Design of Modular Robotic
System, IEEE/RSJ International Conference on Intelligent Robots
and Systems (IROS 2000), CD-ROM, 2000.
- Kohji Tomita, Satoshi Murata, Eiichi Yoshida, Haruhisa Kurokawa,
Akiya Kamimura and Shigeru Kokaji: Development of a Self-Reconfigurable
Modular Robotic System, Sensor Fusion and Decentralized Control in
Robotic Systems III, Proceedings of SPIE, Vol. 4196, pp. 469-476,
2000.
- Satoshi Murata, Eiichi Yoshida, Haruhisa Kurokawa, Kohji Tomita
and Shigeru Kokaji: Self-Repairing Mechanical Systems, Autonomous
Robots , Vol. 10, No. 1, pp. 7-21, 2001.
- Zack Butler, Keith Kotay, Daniela Rus and Kohji Tomita: Cellular
Automata for Decentralized Control of Self-Reconfigurable Robots, Workshop
on Self-reconfigurable Robots, 2001 IEEE International Conference on
Robotics and Automation (ICRA2001) , 2001.
- Eiichi Yoshida, Satoshi Murata, Akiya Kamimura, Kohji Tomita, Haruhisa
Kurokawa and Shigeru Kokaji: Reconfiguration Planning for a Self-Assembling
Modular Robot, Proceedings of the 2001 IEEE International Symposium on Assembly and Task
Planning (ISATP2001), pp. 276-281, 2001. (Oustanding Paper Award Finalist)
- Satoshi Murata, Eiichi Yoshida, Haruhisa Kurokawa, Kohji Tomita and Shigeru
Kokaji: Concept of Self-Reconfigurable Modular Robotic System, Artificial Intelligence in Engineering, Vol. 15, No.
4, pp. 383-387, 2001.
- Akiya Kamimura, Satoshi Murata, Eiichi Yoshida, Haruhisa
Kurokawa, Kohji Tomita and Shigeru Kokaji: Self-Reconfigurable Modular
Robot - Experiments on Reconfiguration and Locomotion -, Proceedings
of 2001 IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS2001) , pp. 590-597, 2001.
- Eiichi Yoshida, Satoshi Murata, Akiya Kamimura, Kohji Tomita,
Haruhisa Kurokawa and Shigeru Kokaji: A Motion Planning Method for a
Self-Reconfigurable Modular Robot, Proceedings of 2001 IEEE/RSJ
International Conference on Intelligent Robots and Systems (IROS2001),
pp. 606-612, 2001.
- Yasuwo Ikeda, Kohji Tomita and Chiharu Hosono: On the
Elimination of some Higher Type Quantifiers, Mathematical
Structures in Computer Science , Vol. 11, No. 6, pp. 771-779, 2001.
- Eiichi Yoshida, Satoshi Murata, Akiya Kamimura, Kohji Tomita,
Haruhisa Kurokawa, and Shigeru Kokaji: A Motion Generation for a
Modular Robot, Journal of Robotics and Mechatronics, Vol. 14,
No. 2, pp. 177-185, 2002.
- Satoshi Murata, Kohji Tomita and Haruhisa Kurokawa: System
Generation by Graph Automata, Proceedings of the 4th International
Workshop on Emergent Synthesis (IWES '02), pp. 47-52, 2002.
- Zack Butler, Keith Kotay, Daniela Rus and Kohji Tomita: Generic
Decentralized Control for a Class of Self-Reconfigurable Robots, Proceedings
of the 2002 International Conference on Robotics and Automation (ICRA
2002) , pp. 809-816, 2002.
- Akiya Kamimura, Eiichi Yoshida, Satoshi Murata, Haruhisa
Kurokawa, Kohji Tomita and Shigeru Kokaji: A Self-Reconfigurable
Modular Robot (MTRAN) - Hardware and Motion Planning Software -, Proceedings of the 6th International Symposium on Distributed Autonomous
Robotic Systems (DARS 02), Distributed Autonomous Robotic Systems 5, pp. 17-26, Springer-Verlag, 2002. (Best Paper Award)
- Eiichi Yoshida, Satoshi Murata, Akiya Kamimura, Kohji Tomita,
Haruhisa Kurokawa, and Shigeru Kokaji: A Self-Reconfigurable Modular
Robot: Reconfiguration Planning and Experiments, International
Journal of
Robotics Research , Vol. 21, No. 10, pp. 903-916, 2002.
- Kohji Tomita, Haruhisa Kurokawa and Satoshi Murata: Graph
Automata: Natural Expression of Self-Reproduction, Physica D,
Vol. 171, No. 4, pp. 197-210, 2002.
- Satoshi Murata, Eiichi Yoshida, Akiya Kamimura, Haruhisa
Kurokawa, Kohji Tomita and Shigeru Kokaji: M-TRAN: Self-Reconfigurable
Modular Robotic System, IEEE/ASME Transactions on Mechatronics,
Vol. 7, No. 4, pp. 431-441, 2002.
- Eiichi Yoshida, Satoshi Murata, Shigeru Kokaji, Akiya Kamimura,
Kohji Tomita and Haruhisa Kurokawa: Get back in shape!, IEEE
Robotics & Automation Magazine, Vol. 9, No. 4, pp. 54-60, 2002.
- Haruhisa Kurokawa, Akiya Kamimura, Eiichi Yoshida, Kohji Tomita,
Satoshi Murata and Shigeru Kokaji: Self-Reconfigurable Modular Robot
(M-TRAN) and its Motion Design, Proceedings of Seventh
International Conference on Control, Automation, Robotics and Vision
(ICARCV 2002), 2002.
- Satoshi Murata, Eiichi Yoshida, Akiya Kamimura, Kohji Tomita,
Haruhisa Kurokawa and Shigeru Kokaji: Homogeneous Distributed
Mechanical Systems, Morpho-Functional Machines: The New Species,
pp. 167-193,
Springer, 2003.
- Eiichi Yoshida, Satoshi Murata, Akiya Kamimura, Kohji Tomita,
Haruhisa Kurokawa and Shigeru Kokaji: Evolutionary Motion Synthesis for
a Modular Robot using Genetic Algorithm, Journal of Robotics and
Mechatronics , Vol. 15, No. 2, pp. 227-237, 2003.
- Eiichi Yoshida, Satoshi Murata, Akiya Kamimura, Kohji Tomita,
Haruhisa Kurokawa and Shigeru Kokaji: Evolutionary Synthesis of Dynamic
Motion
and Reconfiguration Process for a Modular Robot M-TRAN, Proceedings
2003 IEEE International Symposium on Computational Intelligence in
Robotics
and Automation , pp. 1004-1010, 2003.
- Akiya Kamimura, Haruhisa Kurokawa, Eiichi Yoshida, Kohji Tomita,
Satoshi Murata and Shigeru Kokaji. Automatic locomotion pattern
generation for modular robots. Proceedings of 2003 IEEE
International Conference on Robotics and Automation (ICRA2003), pp. 714-720, 2003. (Finalist for Best Conference Paper Award)
- Eiichi Yoshida, Satoshi Murata, Akiya Kamimura, Kohji Tomita,
Haruhisa Kurokawa, and Shigeru Kokaji: Self-Reconfigurable Modular
Robots - Hardware and Software Development in AIST -. Proceedings
of
IEEE International Conference on Robotics, Intelligent Systems and
Signal Processing (RISSP 2003), CD-ROM, 2003.
- Kohji Tomita, Satoshi Murata and Haruhisa Kurokawa: Automatic
Generation of Self-Replicating patterns in Graph Automata, Shanghai
International Symposium on Nonlinear Science and Applications 2003
Proceedings,
2003.
- Haruhisa Kurokawa, Akiya Kamimura, Eiichi Yoshida, Kohji Tomita,
Shigeru Kokaji and Satoshi Murata: M-TRAN II: Metamorphosis from a
Four-Legged Walker to a Caterpillar, Proceedings of IEEE/RSJ
International Conference on Intelligent Robots and Systems, pp.
2454-2459, 2003.
- Akiya Kamimura, Satoshi Murata, Eiichi Yoshida, Haruhisa
Kurokawa, Kohji Tomita and Shigeru Kokaji: Research on
Self-Reconfigurable Modular Robot System (Experiments on
Reconfiguration and Locomotion with several Modules), JSME
International Journal Series C, Vol. 46, No.
4, pp. 1490-1496, 2003.
- Haruhisa Kurokawa, Eiichi Yoshida, Kohji Tomita, Akiya Kamimura,
Satoshi Murata and Shigeru Kokaji: Deformable Multi M-TRAN Structure
Works as Walker Generator, Proceedings of the 8th Conference on
Intelligent Autonomous Systems (IAS-8), pp. 746-753, 2004.
- Esben H. Ostergaard, Kohji Tomita and Haruhisa Kurokawa: Distributed Metamorphosis
of Regular M-TRAN Structures, Proceedings of the 7th International Symposium on
Distributed Autonomous Robotic Systems (DARS 04), pp. 161-170, 2004.
- Satoshi Murata, Akiya Kamimura, Haruhisa Kurokawa, Eiichi
Yoshida, Kohji Tomita and Shigeru Kokaji: Self-Reconfigurable
Robots: Platforms for Emerging Functionality, Embodied Artificial
Intelligence, Lecture Notes
in Artificial Intelligence 3139, pp. 312-330, Sprinver-Verlag,
2004.
- Zack Butler, Keith Kotay, Daniela Rus and Kohji Tomita: Generic
Decentralized Control for Lattice-Based Self-Reconfigurable
Robots, International Journal of Robotics Research, Vol. 23,
No. 9, pp. 919-937, 2004.
- Eiichi Yoshida, Haruhisa Kurokawa, Akiya Kamimura, Satoshi
Murata,
Kohji Tomita and Shigeru Kokaji: Planning Behaviors of a Modular
Robot: An Approach Applying a Randomized Planner to Coherent
Structure, Proceedings of Proceedings of 2004 IEEE/RSJ
International
Conference on Intelligent Robots and Systems (IROS2004), pp.
2056-2061,
2004.
- Akiya Kamimura, Haruhisa Kurokawa, Eiichi Yoshida, Satoshi
Murata,
Kohji Tomita and Shigeru Kokaji: Distributed Adaptive Locomotion by a
Modular Robotic System, M-TRAN II (From Local Adaptation to Global
Coodinated Motion using CPG Controllers), Proceedings of
Proceedings
of 2004 IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS2004), pp. 2370-2377, 2004.
- Hidetomo Machi, Kohji Tomita and Chiharu Hosono:
The Relative Completeness of a Version of CTL*,
Eleventh Computing: The Australasian Theory Symposium (CATS2005),
Conferences in Research and Practice in Information Technology
Vol. 41, pp. 81-85, 2005.
- Akiya Kamimura, Haruhisa Kurokawa, Eiichi Yoshida,
Satoshi Murata, Kohji Tomita and Shigeru Kokaji:
Automatic Locomotion Pattern Generation for a Self-reconfigurable
Modular Robotic System, IEEE/ASME Transactions
on Mechatronics, Vol. 10, No. 3, pp. 314-325, 2005.
- Haruhisa Kurokawa, Kohji Tomita, Akiya Kamimura,
Eiichi Yoshida, Shigeru Kokaji and Satoshi Murata:
Distributed Self-reconfiguration Control of Modular Robot M-TRAN,
Proceedings of the IEEE International
Conference on Mechatronics and Automation (ICMA 2005),
pp. 254-259, 2005.
- Kohji Tomita, Satoshi Murata, Akiya Kamimura and Haruhisa Kurokawa:
Self-description for Construction and Execution in Graph Rewriting Automata,
VIIIth European Conference on Artificial Life (ECAL 2005),
Advances in Artificial Life,
Lecture Notes in Artificial Intelligence 3630,
pp. 705-715, Springer-Verlag, 2005.
- Haruhisa Kurokawa, Eiichi Yoshida, Kohji Tomita, Akiya Kamimura, Satoshi Murata and Shigeru Kokaji: Self-reconfigurable M-TRAN Structures and Walker Generation, Robotics and Autonomous Systems, Vol. 54, No. 2, pp. 142-149, 2006.
- Kohji Tomita, Haruhisa Kurokawa and Satoshi Murata: Automatic Generation of Self-replicating Patterns in Graph Automata, International Journal of Bifurcation and Chaos, Vol. 16, No. 4, pp. 1011-1018, 2006.
- Hidetomo Machi, Yasuo Ikeda, Kohji Tomita, Chiharu Hosono and Shigeru Igarashi: Tense Calculus and its Refinement without $\infty$, Tensor, N.S., Vol. 67, No. 1, pp. 79-93, 2006.
- Haruhisa Kurokawa, Kohji Tomita, Akiya Kamimura, Eiichi Yoshida, Satoshi Murata and Sigeru Kokaji: M-TRAN: Self-reconfigurable Modular Robot, Video Proceedings of IEEE International Conference on Robotics and Automation (ICRA2006), 2006.
- Haruhisa Kurokawa, Kohji Tomita, Akiya Kamimura, Satoshi Murata, Yuzuru
Terada and Shigeru Kokaji: Distributed Metamorphosis Control of a Modular
Robotic System M-TRAN, Proceedings of the 8th International Symposium on Distributed Autonomous
Robotic Systems (DARS 2006), Distributed Autonomous Robotic Systems 7, pp. 115-124, 2006. (Best Paper Award)
- Kohji Tomita, Satoshi Murata and Haruhisa Kurokawa: Asynchronous Graph-Rewriting
Automata and Simulation of Synchronous Execution, 9th European Conference
on Artificial Life (ECAL 2007), Advances in Artificial Life, Lecture Notes in Artificial Intelligence
4648, pp. 865-875, Springer-Verlag, 2007.
- Kohji Tomita, Satoshi Murata and Haruhisa Kurokawa: Self-description for
construction and computation on graph-rewriting automata, Artificial Life, Vol. 13, No. 4, pp. 383-396, 2007
E-mail:
k.tomita@aist.go.jp