Research Engineer Portfolio
Robotics & Control R&D Engineer
Control × Robot Learning × Physical Intelligence
Building on control theory to explore safe, reliable robotic systems. This is my public trail of research, open-source implementations, and technical notes.
Research · Engineering · Open Source
Hierarchical fallback optimization for safety-critical multi-robot formation tracking, balancing tracking objectives with barrier constraints.
Conference paper available; public repository currently contains the framework overview.
DR-TVFC - Distributed Robust Time-Varying Formation Control for Multi-Agent Systems under Disturbances
Public MATLAB simulation code, plotting scripts, and formation animation.
Educational MATLAB implementations of constrained MPC, trajectory tracking, and MPC versus LQR comparisons for double-integrator systems.
MATLAB examples, constraint-checking scripts, and English / Japanese documentation.
A developing control theory reference connecting mathematical explanations with Python and MATLAB implementations.
Public PID and state-space implementations; broader coverage remains in development.
Questions that guide my work
How can robots track objectives while respecting safety and physical constraints?
How can learned policies support reliable manipulation beyond a fixed setup?
Which geometric and dynamical structure should a robotic learning system preserve?
Mathematics, implementations, and understanding
For conversations about control, robot learning, and reproducible robotic systems.