Updated on 2025/05/01

Information

 

写真a

 
MATSUMOTO KOHEI
 
Organization
Faculty of Information Science and Electrical Engineering Department of Advanced Information Technology Assistant Professor
Title
Assistant Professor
External link

Research Areas

  • Informatics / Intelligent robotics

  • Informatics / Robotics and intelligent system

Degree

  • Ph.D. in Enginearing ( 2022.3 Kyushu University )

  • Master of Engineering ( 2019.3 Kyushu University )

  • Bachelor of Engineering ( 2017.3 Kumamoto University )

Papers

  • Development of a Tour Guide and Co-experience Robot System using the Quasi-Zenith Satellite System and the 5th-Generation Mobile Communication System at a Theme Park

    Kohei Matsumoto, Hiroyuki Yamada, Masato Imai, Akihiro Kawamura, Yasuhiro Kawauchi, Tamaki Nakamura, Ryo Kurazume

    ROBOMECH Journal   2021.2

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    Authorship:Lead author  

  • Spatial change detection using normal distributions transform

    Ukyo Katsura, Kohei Matsumoto, Akihiro Kawamura, Tomohide Ishigami, Tsukasa Okada, Ryo Kurazume

    ROBOMECH Journal   2019.12

  • Development of mobile sensor terminals "Portable Go" for navigation in informationally structured and unstructured

    Yuuta Watanabe, Akio Shigekane, Kohei Matsumoto, Akihiro Kawamura, Ryo Kurazume

    ROBOMECH Journal   2019.6

  • Development of ROS-TMS 5.0 for informationally structured environment

    Junya Sakamoto, Kouhei Kiyoyama, Kohei Matsumoto, Yoonseok Pyo, Akihiro Kawamura, Ryo Kurazume

    ROBOMECH Journal.   2018.9

Presentations

  • Crowd-Aware Robot Navigation with Switching Between Learning-Based and Rule-Based Methods Using Normalizing Flows International conference

    Matsumoto K., Hyodo Y., Kurazume R.

    IEEE International Conference on Intelligent Robots and Systems  2024  IEEE International Conference on Intelligent Robots and Systems

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    Event date: 2024

    Language:English   Presentation type:Oral presentation (general)  

    Mobile robot navigation in crowded environments with pedestrians is a crucial challenge in realizing service robots that can assist people in their daily lives. Navigation methods for mobile robots in environments employing deep reinforcement learning have been extensively studied. However, addressing such unexpected situations is a significant challenge. This study presents an approach that discerns whether a situation has been supposed to utilize a normalizing flow and dynamically switches between learning- and rule-based methods. Specifically, the proposed method achieves a higher success rate than employing only a learning-based approach and reaches the destination faster than employing only a rule-based approach in unexpected situations. Experiments are conducted to validate the performance enhancement achieved with the proposed switching method in both simulated and real-world settings.

    DOI: 10.1109/IROS58592.2024.10802676

    Web of Science

    Scopus

  • Environmental and Behavioral Imitation for Autonomous Navigation International conference

    Aoki J., Sasaki F., Matsumoto K., Yamashina R., Kurazume R.

    IEEE International Conference on Intelligent Robots and Systems  2024  IEEE International Conference on Intelligent Robots and Systems

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    Event date: 2024

    Language:English   Presentation type:Oral presentation (general)  

    In this paper, we introduce a framework for imitation learning in navigation that enables policy learning from one-shot images without a physical robot and facilitates the transfer of this policy from simulation to reality. Utilizing Neural Radiance Fields (NeRF), our approach generates a simulated environment and simultaneously models expert behavior. This removes the necessity for a physical robot during both the expert teaching phase and the agent's learning process, allowing for the application of policies learned within the NeRF simulation to real-world robots. We validate our method by demonstrating the navigation with an actual robot using the policy learned by our approach. Moreover, we present a method for adapting to changes in the robot configuration, such as camera parameters and robot dimensions, by simulating adjustments in the robot configuration throughout the learning and assessing its generalizability.

    DOI: 10.1109/IROS58592.2024.10801902

    Web of Science

    Scopus

  • Spatial change detection using voxel classification by normal distributions transform International conference

    Kohei Matsumoto

    2019 International Conference on Robotics and Automation (ICRA)  2019 

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    Event date: 2019

    Language:English   Presentation type:Oral presentation (general)  

    DOI: 10.1109/ICRA.2019.8794173

  • Development of a Retrofit Backhoe Teleoperation System Using Cat Command International conference

    Shibata K., Nishiura Y., Tamaishi Y., Matsumoto K., Nakashima K., Kurazume R.

    2024 IEEE/SICE International Symposium on System Integration, SII 2024  2024  2024 IEEE/SICE International Symposium on System Integration, SII 2024

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    Event date: 2024

    Language:English   Presentation type:Oral presentation (general)  

    Most existing retrofit remote-control systems for backhoes are large, hard-to-install, and expensive. Therefore, we propose an easy-to-install and inexpensive teleoperation system. The proposed system comprised remote-control and sensing systems. The remote-control system retrofits robot arm-based devices to 'Cat Command', a compact embedded teleoperation system with a limited communication range, and controls these devices via a 5G commercial network to realize control from a remote office. Because this system does not require any additional modifications to the embedded control unit in the cockpit, the operator can continue working in the cockpit even if the backhoe is remotely controlled. The system enables the remote control of various devices from an extremely long distance by changing the joint parts between the robot arm and the embedded remote-control device. The sensing system estimates the posture and position of the backhoe by attaching original sensing devices to the backhoe. In addition, a 360 camera was installed in the cockpit to transmit work images from the construction site to a remote office in real time. The sensing device was smaller and lighter than conventional devices. We confirmed that the proposed system can be used to operate a construction site backhoe from a remote office, and that the system can be used to excavate soil using an actual backhoe.

    DOI: 10.1109/SII58957.2024.10417625

    Scopus

  • Sensor Pods and ROS2-TMS for Construction for Cyber-Physical System at Earthwork Sites International conference

    Maeda R., Kouno T., Matsumoto K., Kasahara Y., Itsuka T., Nakashima K., Tamaishi Y., Kurazurne R.

    IEEE International Symposium on Safety, Security, and Rescue Robotics 2024, SSRR 2024  2024  IEEE International Symposium on Safety, Security, and Rescue Robotics 2024, SSRR 2024

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    Event date: 2024

    Language:English   Presentation type:Oral presentation (general)  

    In this study, we propose distributed sensor ter-minals named 'Sensor Pods' and 'Petit-Sensor Pods', and a Cyber-Physical System (CPS) platform named 'ROS2-TMS for Construction' that aims to improve both the efficiency and safety of earthwork operations. The proposed system collects on-site environmental information, stores it in a database, and visualizes it using virtual reality (VR). To evaluate the system's performance in environments simulating real-world earthwork operations, two types of experiments were conducted. In the first experiment, the integrated system of the Sensor Pods and ROS2-TMS for Construction successfully demonstrated the collection of environmental information, its storage, and visualization through VR. The results indicate that the proposed system has significant potential to provide a comprehensive understanding of on-site conditions. In the second experiment, the performance of the Petit-Sensor Pods was verified, confirming its proper functionality and suggesting expanded possibilities for the future use of ROS2- TMS for Construction. This paper presents the developed system and the experiments conducted to assess its performance. A demonstration video is available at: https: / /youtu. be/u4Jo-dU4ewo/.

    DOI: 10.1109/SSRR62954.2024.10770031

    Web of Science

    Scopus

  • Task management system for construction machinery using the open platform OPERA International conference

    Kasahara, Y; Itsuka, T; Shibata, K; Kouno, T; Maeda, R; Matsumoto, K; Kimura, S; Fukase, Y; Yokoshima, T; Yamauchi, G; Endo, D; Hashimoto, T; Kurazume, R

    2024 33RD IEEE INTERNATIONAL CONFERENCE ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, ROMAN 2024  2024  IEEE International Workshop on Robot and Human Communication, RO-MAN

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    Event date: 2024

    Language:English   Presentation type:Oral presentation (general)  

    In recent years, labor accidents and a shortage of skilled workers due to an aging population have become significant issues at construction sites in Japan. To address these challenges, we are developing a Cyber-Physical System (CPS) platform called ROS2-TMS for Construction, which aims to improve both the efficiency and safety of earthwork operations. In this study, we propose a task management system for construction machinery using an open platform named OPERA as an additional function of ROS2-TMS for Construction. This task management system controls construction machinery using environmental information stored in a database, which collects and stores data from sensors deployed throughout the construction site, and an extended Behavior Tree. At the end of this study, the results of the initial validation tests of autonomous earthwork operations using an OPERA-compatible backhoe ZX200 are presented.

    DOI: 10.1109/RO-MAN60168.2024.10731421

    Web of Science

    Scopus

  • Evaluation of ground stiffness using multiple accelerometers on the ground during compaction by vibratory rollers International conference

    Tamaishi Y., Fukuda K., Nakashima K., Maeda R., Matsumoto K., Kurazume R.

    International Symposium on Automation and Robotics in Construction  2023  Proceedings of the International Symposium on Automation and Robotics in Construction

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    Event date: 2023

    Language:English   Presentation type:Oral presentation (general)  

    Soil compaction is one of the most important basic elements in construction work because it directly affects the quality of structures. Compaction work using vibratory rollers is generally applied to strengthen ground stiffness, and the method that focuses on the number of compaction cycles is widely used to manage the ground stiffness by vibratory rollers. In contrast to this method, the continuous compaction control (CCC) using accelerometers installed on the vibratory rollers has been proposed as a quantitative evaluation method more suited to actual ground conditions. This method quantifies the distortion rate of the acceleration waveform of the vibratory roller. However, this method based on acceleration response has problems in measurement discrimination accuracy and sensor durability because the accelerometer is installed on the vibration roller, which is the source of vibration. In this paper, we propose a new ground stiffness evaluation method using multiple accelerometers installed on the ground surface. The proposed method measures the acceleration response during compaction work by vibratory rollers using multiple accelerometers on the ground surface. Experiments show the proposed method has a higher discrimination than the conventional methods.

    DOI: 10.22260/ISARC2023/0037

    Scopus

  • Mobile Robot Navigation Using Learning-Based Method Based on Predictive State Representation in a Dynamic Environment International conference

    Matsumoto, K; Kawamura, A; An, Q; Kurazume, R

    2022 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII 2022)  2022  2022 IEEE/SICE International Symposium on System Integration, SII 2022

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    Event date: 2022

    Language:English   Presentation type:Oral presentation (general)  

    Mobile robot navigation in a dynamic environment with pedestrians is essential for service robots operating in a living environment. Accordingly, the robot needs to understand and predict the behavior of pedestrians. However, predicting pedestrian behavior in advance is difficult because human behavior may be affected by factors that cannot be directly observed or modeled in advance, such as intentions and environmental influences. In addition, pedestrian behavior may be affected by the behavior of the robot.In this study, we apply a deep reinforcement learning method based on a novel predictive state representation (PSR) model to mobile robot navigation for realizing a navigation method considering the changes in pedestrian behavior caused by robot actions and other pedestrians. In addition, we propose two methods for integrating the states of the PSRs corresponding to each pedestrian and evaluate these methods in situations where the number of pedestrians differs between learning and testing.

    DOI: 10.1109/SII52469.2022.9708775

    Web of Science

    Scopus

  • Development of Autonomous Mobile Mowing Robot Using High-Precision GNSS

    MATSUMOTO Kohei, OHKI Takahiro, WATANABE Takashi, SHITAKUBO Ryu, KODAMA Naoto, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2023  The Japan Society of Mechanical Engineers

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    Language:Japanese  

    <p>We have been working on the realization of an autonomous mowing robot to automate weeding work, which is an essential part of agriculture. The robot developed so far can do mowing work in open environments by localization using high-precision GNSS and performing exhaustive sweeping of the work area. This paper reports on the third robot, which is newly equipped with a Visual SLAM camera, and a path following algorithm is implemented to assume use in environments that are difficult to benefit from GNSS.</p>

    DOI: 10.1299/jsmermd.2023.2p1-b03

    CiNii Research

  • Development of a multi-robot system for illuminance measurement

    NISHIURA Yuki, SAKEMI Kazuyuki, FURUNO Junji, FUKUDA Takako, IKEDA Yoshiaki, MATSUMOTO Kohei, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2023  The Japan Society of Mechanical Engineers

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    Language:Japanese  

    <p>In facility construction of a building, illuminance measurement is required to verify that the illuminance condition satisfies JIS regulations before its completion. In order to perform illuminance measurement accurately, measurements are conducted at night, causing long working hours at night. In this paper, we propose an autonomous illuminance measurement robot system consisting of multiple robots. The experiments show that the measurement errors of illuminance compared to the human measurements is 1.36% and the measurement time is reduced about 12%.</p>

    DOI: 10.1299/jsmermd.2023.1a1-b03

    CiNii Research

  • Development of Outdoor Surveillance Mobile Robot System

    DANJO Masakado, MATSUMOTO Kohei, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2023  The Japan Society of Mechanical Engineers

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    Language:Japanese  

    <p>In this study, we developed an outdoor surveillance robot system using public 5G. The robot patrolling outdoors is connected to a remote observer via 5G and ROS2, and the observer control the robot while monitoring camera images remotely. We tested three network configurations to realize remote communication. Experiments for remote autonomous surveillance were conducted.</p>

    DOI: 10.1299/jsmermd.2023.1a1-i02

    CiNii Research

  • Mobile Robot Navigation in Dynamic Environments by Offline Reinforcement Learning using Flow-Based Generative Model

    MATSUMOTO Kohei, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2023  The Japan Society of Mechanical Engineers

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    Language:Japanese  

    <p>We propose a novel navigation method applying an offline reinforcement learning method based on Implicit Policy Constraint to mobile robot navigation in environments with pedestrians. The proposed method utilizes a flow-based generative model for the behavior policy, and the latent policy is trained using a method based on Advantage-Weighted Regression. The proposed method is evaluated in a simulation environment.</p>

    DOI: 10.1299/jsmermd.2023.2a2-g01

    CiNii Research

  • ROS2-TMS for Construction: CPS platform for earthwork sites International conference

    Ryuichi Maeda, Kohei Matsumoto, Tomoya Kouno, Tomoya Itsuka, Kazuto Nakashima, Yusuke Tamaishi, Ryo Kurazume

    International Symposium on Artificial Life and Robotics (AROB)  2024.1 

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    Language:English   Presentation type:Oral presentation (general)  

  • ROS2-TMS for Construction: CPS platform for earthwork sites -Cooperation with OPERA, an autonomous construction technology platform-

    SHIBATA Koshi, KOUNO Tomoya, KASAHARA Yuichiro, ITSUKA Tomoya, MAEDA Ryuichi, MATSUMOTO Kohei, KIMURA Shunsuke, FUKASE Yutaro, YOKOSHIMA Takashi, YAMAUCHI Genki, ENDO Daisuke, HASHIMOTO Takeshi, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2024  The Japan Society of Mechanical Engineers

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    Language:Japanese   Presentation type:Oral presentation (general)  

    <p>This paper presents an interface of ROS2-TMS for Construction, a cyber-physical system designed to improve the efficiency and safety in earthwork, for an OPERA (Open Platform for Earthwork with Robotics and Autonomy) compatible backhoe. We focused on the excavation and loading operations of earth and sand and confirmed that the proposed system performs these operations appropriately on an actual OPERA-compatible backhoe.</p>

    DOI: 10.1299/jsmermd.2024.2a1-b06

    CiNii Research

  • ROS2-TMS for Construction: CPS platform for earthwork sites -Implementation of Task Management Mechanisms-

    KASAHARA Yuichiro, ITSUKA Tomoya, SHIBATA Koshi, MAEDA Ryuichi, KOUNO Tomoya, MATSUMOTO Kohei, KIMURA Shunsuke, FUKASE Yutaro, YOKOSHIMA Takashi, YAMAUCHI Genki, ENDO Daisuke, HASHIMOTO Takeshi, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2024  The Japan Society of Mechanical Engineers

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    Language:Japanese   Presentation type:Oral presentation (general)  

    <p>In recent years, the shortage of human resources at earthwork sites has been accelerating due to industrial accidents and the declining birthrate and aging population. Against this background, Our lab is developing a CPS platform called ”ROS2-TMS for Construction” as a system that simultaneously improves the efficiency and safety of earthwork work. This paper introduces a newly developed task management mechanism as a continuation of the ROS2-TMS for Construction development. The task management mechanism is a mechanism for operating actual construction machinery based on scenarios called task sequences given to ROS2-TMS for Construction.In this time, I adopted the Behavior Tree as the task scheduler and incorporated it into ROS2-TMS for Construction with some extensions according to the ROS2 specification. An overview of the extensions of Behavior Tree we adopted to task management mechanism of ROS2-TMS for Construction will also be explained in this paper.</p>

    DOI: 10.1299/jsmermd.2024.2a1-b05

    CiNii Research

  • Development of Garbage Collecting Robot for Marine Microplastics

    UNO Mitsuki, KURAZUME Ryo, MATSUMOTO Kohei

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2024  The Japan Society of Mechanical Engineers

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    Language:Japanese   Presentation type:Oral presentation (general)  

    <p>Marine microplastics are plastic products that are crushed while drifting through the ocean and washed up on beaches. The presence of these garbage threatens the safety of beaches and marine ecosystems seriously. However, it is difficult to manually collect small microplastics scattered on beaches. Therefore, this study aims to develop a cleaning robot that automatically collects marine microplastics scattered on beaches and eliminates the workload from people. In this paper, we first explain the concept of the cleaning robot, then describe the configuration of the robot (conveyor belt and transfer mechanism) for effective microplastics collection, and the integration experiment conducted on a beach.</p>

    DOI: 10.1299/jsmermd.2024.2a1-g03

    CiNii Research

  • Development of a multi-robot system for illuminance measurement -Scalability test and development of Graphic User Interface-

    NISHIURA Yuki, MATSUMOTO Kohei, SAKEMI Kazuyuki, FURUNO Junji, FUKUDA Takako, IKEDA Yoshiaki, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2024  The Japan Society of Mechanical Engineers

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    Language:Japanese   Presentation type:Oral presentation (general)  

    <p>In facility construction of a building, illuminance measurement is required to verify that the illuminance condition satisfies JIS regulations before its completion. In order to perform illuminance measurement accurately, measurements are conducted at night, causing long working hours at night. In this paper, we propose a GUI system for controlling autonomous illuminance measurement multiple robots system and report the result of scalability test by increasing the number of robots of the system. The experiments show that the system is able to complete the measurement by dividing areas for each of three robots.</p>

    DOI: 10.1299/jsmermd.2024.2a2-c03

    CiNii Research

  • A Proposal for an Autonomous Navigation Learning Method via Neural Radiance Fields that Does Not Require Actual Robot

    AOKI Junki, SASAKI Fumihiro, MATSUMOTO Kohei, YAMASHINA Ryota, KURAZUME Ryo

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)  2024  The Japan Society of Mechanical Engineers

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    Language:Japanese   Presentation type:Oral presentation (general)  

    <p>This paper investigates using Neural Radiance Fields (NeRF) to enable autonomous navigation simulations without the need for actual robots. NeRF's strength lies in its ability to render photorealistic images, promising a solution to the long-standing challenge of the domain gap between simulation and real-world environments. We present findings that validate the effectiveness of a NeRF-simulated environment for training a reinforcement learning policy. Once trained in the NeRF environment, this policy can navigate an actual robot in the real world.</p>

    DOI: 10.1299/jsmermd.2024.1p1-m09

    CiNii Research

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FD Participation

  • 2025.2   Role:Participation   Title:【シス情FD】プレアドミッション・サポートデスク(PSD)による留学生のための出願前支援 〜導入のメリット〜

    Organizer:[Undergraduate school/graduate school/graduate faculty]

  • 2025.1   Role:Participation   Title:【シス情FD】日本学術振興会の人材育成事業と男女共同参画推進に関するご紹介 ― 特別研究員制度、日本学術振興会賞ほか ―

    Organizer:[Undergraduate school/graduate school/graduate faculty]

  • 2024.11   Role:Participation   Title:【シス情FD】脳内シナプスの分子マッピングとその情報処理メカニズムの解明

    Organizer:[Undergraduate school/graduate school/graduate faculty]

  • 2024.7   Role:Participation   Title:【シス情FD】ソーシャルロボットにおけるELSI実証研究と標準化

    Organizer:[Undergraduate school/graduate school/graduate faculty]

  • 2024.5   Role:Participation   Title:【シス情FD】科研費の最近の動向について

    Organizer:[Undergraduate school/graduate school/graduate faculty]