publications | Hugo Tadashi M. Kussaba

2024

Compositional Construction of Barrier Functions for Switched Impulsive Systems

Katharina Bieker, Hugo Tadashi Kussaba, Philipp Scholl, Jaesug Jung, Abdalla Swikir, Sami Haddadin, and Gitta Kutyniok

In Proceedings of the 63rd IEEE Conference on Decision and Control, 2024

Accepted for publication

arXiv Bib

@inproceedings{BKSJSHK:24,
  author = {Bieker, Katharina and Kussaba, Hugo Tadashi and Scholl, Philipp and Jung, Jaesug and Swikir, Abdalla and Haddadin, Sami and Kutyniok, Gitta},
  title = {Compositional Construction of Barrier Functions for Switched Impulsive Systems},
  booktitle = {Proceedings of the 63rd IEEE Conference on Decision and Control},
  note = {Accepted for publication},
  year = {2024},
}

Optimal Control for Clutched-Elastic Robotic Systems: A Contact-Implicit Approach

Dennis Ossadnik^†, Vasilije Rakčević^†, Mehmet Can Yildirim, Edmundo Pozo Fortunić, Hugo Tadashi Kussaba, Abdalla Swikir, and Sami Haddadin

In Proceedings of the 2024 International Conference on Robotics and Automation, 2024

arXiv Bib Video Notes

One of the papers cited in our work, "Posa M, Cantu C, and Tedrake R (2014) A direct method for trajectory optimization of rigid bodies through contact. The International Journal of Robotics Research, 33(1), 69-81" has released a corrigendum (available at: https://doi.org/10.1177/0278364914533878). This corrigendum includes references to earlier work by Dr. Kerim Yunt, which independently achieved similar results and was published prior to the paper by Posa, Cantu, and Tedrake. It is important to note that this corrigendum does not affect the results or originality of our paper.

@inproceedings{ORYFKSH:24,
  title = {Optimal Control for Clutched-Elastic Robotic Systems: A Contact-Implicit Approach},
  author = {Ossadnik, Dennis and Rak\v{c}evi\'{c}, Vasilije and Yildirim, Mehmet Can and Fortuni\'{c}, Edmundo Pozo and Kussaba, Hugo Tadashi and Swikir, Abdalla and Haddadin, Sami},
  year = {2024},
  booktitle = {Proceedings of the 2024 International Conference on Robotics and Automation},
  pages = {11481--11487},
  doi = {10.1109/ICRA57147.2024.10610380},
  notes = {One of the papers cited in our work, "Posa M, Cantu C, and Tedrake R (2014) A direct method for trajectory optimization of rigid bodies through contact. The International Journal of Robotics Research, 33(1), 69-81" has released a corrigendum (available at: https://doi.org/10.1177/0278364914533878). This corrigendum includes references to earlier work by Dr. Kerim Yunt, which independently achieved similar results and was published prior to the paper by Posa, Cantu, and Tedrake. It is important to note that this corrigendum does not affect the results or originality of our paper.}
}

Learning barrier-certified polynomial dynamical systems for obstacle avoidance with robots

Martin Schonger^†, Hugo Tadashi Kussaba^†, Lingyun Chen, Luis Figueredo, Abdalla Swikir, Aude Billard, and Sami Haddadin

In Proceedings of the 2024 International Conference on Robotics and Automation, 2024

arXiv Bib Video Code

@inproceedings{SKCFSBH:24,
  title = {Learning barrier-certified polynomial dynamical systems for obstacle avoidance with robots},
  author = {Schonger, Martin and Kussaba, Hugo Tadashi and Chen, Lingyun and Figueredo, Luis and Swikir, Abdalla and Billard, Aude and Haddadin, Sami},
  year = {2024},
  booktitle = {Proceedings of the 2024 International Conference on Robotics and Automation},
  pages = {17201--17207},
  doi = {10.1109/ICRA57147.2024.10610828},
}

2023

Learning optimal controllers: A dynamical motion primitive approach

Hugo T. M. Kussaba, Abdalla Swikir, Fan Wu, Anastasija Demerdjieva, Gitta Kutyniok, and Sami Haddadin

In Proceedings of the 22nd IFAC World Congress, 2023

arXiv Bib PDF Video

@inproceedings{KSWDKH:23,
  title = {Learning optimal controllers: A dynamical motion primitive approach},
  author = {Kussaba, Hugo T. M. and Swikir, Abdalla and Wu, Fan and Demerdjieva, Anastasija and Kutyniok, Gitta and Haddadin, Sami},
  year = {2023},
  booktitle = {Proceedings of the 22nd IFAC World Congress},
}

Fast yet predictable braking manoeuvers for real-time robot control

Mazin Hamad, Jesus Gutierrez-Moreno, Hugo T.M. Kussaba, Nico Mansfeld, Saeed Abdolshah, Abdalla Swikir, Wolfram Burgard, and Sami Haddadin

In Proceedings of the 22nd IFAC World Congress, 2023

arXiv Bib PDF

@inproceedings{HKMASH:23,
  title = {Fast yet predictable braking manoeuvers for real-time robot control},
  author = {Hamad, Mazin and Gutierrez-Moreno, Jesus and Kussaba, Hugo T.M. and Mansfeld, Nico and Abdolshah, Saeed and Swikir, Abdalla and Burgard, Wolfram and Haddadin, Sami},
  year = {2023},
  booktitle = {Proceedings of the 22nd IFAC World Congress},
}

2022

BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots

Dennis Ossadnik, Mehmet C. Yildirim, Fan Wu, Abdalla Swikir, Hugo T. M. Kussaba, Saeed Abdolshah, and Sami Haddadin

In Proceedings of the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

arXiv Bib

@inproceedings{OYWSKAH:22,
  title = {BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots},
  author = {Ossadnik, Dennis and Yildirim, Mehmet C. and Wu, Fan and Swikir, Abdalla and Kussaba, Hugo T. M. and Abdolshah, Saeed and Haddadin, Sami},
  year = {2022},
  booktitle = {Proceedings of the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  publisher = {IEEE},
  pages = {3536--3543},
  doi = {http://dx.doi.org/10.1109/IROS47612.2022.9981928},
}

2020

Robust global distributed attitude control for multiple rigid bodies using a hybrid controller

Paulo P. M. Magro, Hugo T. M. Kussaba, and João Y. Ishihara

International Journal of Systems Science, 2020

Bib

@article{MKI:20,
  title = {Robust global distributed attitude control for multiple rigid bodies using a hybrid controller},
  author = {Magro, Paulo P. M. and Kussaba, Hugo T. M. and Ishihara, João Y.},
  year = {2020},
  journal = {International Journal of Systems Science},
  volume = {51},
  number = {7},
  pages = {1229--1242},
  doi = {https://doi.org/10.1080/00207721.2020.1758232},
}

2019

Unscented Kalman Filters for Riemannian State-Space Systems

Henrique M. Taira Menegaz, João Y. Ishihara, and Hugo T. M. Kussaba

IEEE Transactions on Automatic Control, Apr 2019

arXiv Bib PDF

@article{MIK:19,
  title = {Unscented {K}alman Filters for {R}iemannian State-Space Systems},
  author = {Menegaz, Henrique M. Taira and Ishihara, Jo{\~{a}}o Y. and Kussaba, Hugo T. M.},
  year = {2019},
  month = apr,
  journal = {IEEE Transactions on Automatic Control},
  volume = {64},
  number = {4},
  pages = {1487--1502},
}

A robust unscented transformation for uncertain moments

Hugo Tadashi M. Kussaba, João Yoshiyuki Ishihara, and Leonardo R.A.X.

Journal of the Franklin Institute, Apr 2019

arXiv Bib PDF

@article{KIR:19,
  title = {A robust unscented transformation for uncertain moments},
  author = {Kussaba, Hugo Tadashi M. and Ishihara, João Yoshiyuki and R.A.X., Leonardo},
  year = {2019},
  journal = {Journal of the Franklin Institute},
  volume = {356},
  number = {6},
  pages = {3797--3810},
  doi = {http://dx.doi.org/10.1016/j.jfranklin.2019.02.018},
}

2017

Existence of Continuous or Constant Finsler’s Variables for Parameter-Dependent Systems

João Y. Ishihara, Hugo T. M. Kussaba, and Renato A. Borges

IEEE Transactions on Automatic Control, Aug 2017

arXiv Bib PDF

@article{IKB:17,
  title = {{Existence of Continuous or Constant Finsler's Variables for Parameter-Dependent Systems}},
  author = {Ishihara, Jo{\~{a}}o Y. and Kussaba, Hugo T. M. and Borges, Renato A.},
  year = {2017},
  month = aug,
  journal = {IEEE Transactions on Automatic Control},
  volume = {62},
  number = {8},
  pages = {4187--4193},
  doi = {10.1109/TAC.2017.2682221},
  issn = {0018-9286},
}

Hybrid Kinematic Control for Rigid Body Pose Stabilization using Dual Quaternions

Hugo T. M. Kussaba, Luis F.C. Figueredo, João Y. Ishihara, and Bruno V. Adorno

Journal of the Franklin Institute, Aug 2017

arXiv Bib PDF Video

@article{KFIA:17,
  title = {{Hybrid Kinematic Control for Rigid Body Pose Stabilization using Dual Quaternions}},
  author = {Kussaba, Hugo T. M. and Figueredo, Luis F.C. and Ishihara, Jo{\~{a}}o Y. and Adorno, Bruno V.},
  year = {2017},
  journal = {Journal of the Franklin Institute},
  volume = {354},
  number = {7},
  pages = {2769--2787},
  doi = {10.1016/j.jfranklin.2017.01.028},
  issn = {00160032},
}

Dual quaternion-based bimodal global control for robust rigid body pose kinematic stabilization

Paulo P. M. Magro, Hugo Tadashi M. Kussaba, Luis F.C. Figueredo, and João Yoshiyuki Ishihara

In Proceedings of 2017 American Control Conference, Aug 2017

Abs Bib

A hybrid bimodal controller for rigid body pose stabilization within the group of unit norm dual-quaternions is proposed in this paper. Using two binary logic state variables, this hysteresis-based controller represents a middle term solution between the memoryless discontinuous controller and the fixed-width hysteretic one. The proposed strategy is novel within the dual-quaternions framework and addresses three common difficulties that appears in the literature of pose and attitude stabilization: global stability, robustness against chattering and against unwinding. The efficacy and performance of the proposed controller are illustrated with numerical examples.
@inproceedings{MKFI:17, title = {{Dual quaternion-based bimodal global control for robust rigid body pose kinematic stabilization}}, author = {Magro, Paulo P. M. and Kussaba, Hugo Tadashi M. and Figueredo, Luis F.C. and Ishihara, Jo{\~{a}}o Yoshiyuki}, year = {2017}, booktitle = {Proceedings of 2017 American Control Conference}, publisher = {IEEE}, pages = {1205--1210}, doi = {10.23919/ACC.2017.7963117}, }

2016

Parameter-Dependent Filter with Finite Time Boundedness Property for Continuous-Time LPV Systems

Hugo T. M. Kussaba, Renato A. Borges, and João Yoshiyuki Ishihara

In Proceedings of XVII Latin American Conference on Automatic Control, Aug 2016

Abs Bib PDF

In this paper the problem of stable estimation for linear parameter varying (LPV) systems in finite-time setting is considered. In order to bound the states and the estimation errors, a parameter- dependent filter is proposed. Under the assumption that the parameters variation are sufficiently small, the filter existence and synthesis is characterized by linear matrix inequalities (LMI) conditions. A numerical example is provided to illustrate the proposed technique.
@inproceedings{KBI:16, title = {{Parameter-Dependent Filter with Finite Time Boundedness Property for Continuous-Time LPV Systems}}, author = {Kussaba, Hugo T. M. and Borges, Renato A. and Ishihara, Jo{\~{a}}o Yoshiyuki}, year = {2016}, booktitle = {Proceedings of XVII Latin American Conference on Automatic Control}, pages = {189--194}, }

2015

Projeto EDUBOT

Andreza Bono Oliveira, Mateus Mendelson E. Silva, and Hugo T. M. Kussaba

In Anais da V Mostra Nacional de Robótica, Aug 2015

Bib PDF

@inproceedings{OMK:15,
  title = {Projeto {EDUBOT}},
  author = {de Oliveira, Andreza Bono and da Silva, Mateus Mendelson E. and Kussaba, Hugo T. M.},
  year = {2015},
  booktitle = {Anais da V Mostra Nacional de Rob\'{o}tica},
  pages = {522--526},
  url = {http://www.mnr.org.br/wp-content/uploads/2018/06/MNR-Anais2015.pdf},
}

A new condition for finite time boundedness analysis

Hugo T. M. Kussaba, Renato Alves Borges, and João Yoshiyuki Ishihara

Journal of the Franklin Institute, Dec 2015

Bib PDF Notes

This paper proposes LMI conditions for FTB analysis of LTI systems. To the best of my knowledge, up to 2015, those LMIs were the less conservative LMIs in the literature for FTB analysis. However, in 2023, less conservative LMIs were found: see Theorem 3.1 of Nada Elghoul, Cédric Delattre, Bassem Bhiri, Michel Zasadzinski, and Kamel Abderrahim. "On the finite-time stability and stabilisation of LTI systems via an S-variable approach." International Journal of Control 97, no. 4 (2024): 884-895.

@article{KBI:15,
  title = {{A new condition for finite time boundedness analysis}},
  author = {Kussaba, Hugo T. M. and Borges, Renato Alves and Ishihara, Jo{\~{a}}o Yoshiyuki},
  year = {2015},
  month = dec,
  journal = {Journal of the Franklin Institute},
  publisher = {Elsevier},
  volume = {352},
  number = {12},
  pages = {5514--5528},
  doi = {10.1016/j.jfranklin.2015.09.005},
  issn = {00160032},
  notes = {This paper proposes LMI conditions for FTB analysis of LTI systems. To the best of my knowledge, up to 2015, those LMIs were the less conservative LMIs in the literature for FTB analysis. However, in 2023, less conservative LMIs were found: see Theorem 3.1 of Nada Elghoul, Cédric Delattre, Bassem Bhiri, Michel Zasadzinski, and Kamel Abderrahim. "On the finite-time stability and stabilisation of LTI systems via an S-variable approach." International Journal of Control 97, no. 4 (2024): 884-895.}
}

Finite time boundedness and stability analysis of discrete time uncertain systems

Hugo T. M. Kussaba, João Yoshiyuki Ishihara, and Renato Alves Borges

In Proceedings of the 54th IEEE Conference on Decision and Control, Dec 2015

Bib PDF

@inproceedings{KIB:15b,
  title = {{Finite time boundedness and stability analysis of discrete time uncertain systems}},
  author = {Kussaba, Hugo T. M. and Ishihara, Jo{\~{a}}o Yoshiyuki and Borges, Renato Alves},
  year = {2015},
  month = dec,
  booktitle = {Proceedings of the 54th IEEE Conference on Decision and Control},
  publisher = {IEEE},
  pages = {5972--5977},
  doi = {10.1109/CDC.2015.7403158},
}

Uniform versions of Finsler’s lemma

Hugo T. M. Kussaba, João Yoshiyuki Ishihara, and Renato Alves Borges

In Proceedings of the 54th IEEE Conference on Decision and Control, Dec 2015

Bib PDF

@inproceedings{KIB:15a,
  title = {{Uniform versions of Finsler's lemma}},
  author = {Kussaba, Hugo T. M. and Ishihara, Jo{\~{a}}o Yoshiyuki and Borges, Renato Alves},
  year = {2015},
  month = dec,
  booktitle = {Proceedings of the 54th IEEE Conference on Decision and Control},
  publisher = {IEEE},
  pages = {7292--7297},
  doi = {10.1109/CDC.2015.7403370},
}

2013

Homogeneous polynomially parameter-dependent state feedback controllers for finite time stabilization of linear time-varying systems

Renato Alves Borges, João Yoshiyuki Ishihara, Hugo T. M. Kussaba, and Larissa P. Silva

In Proceedings of the 2013 European Control Conference, Jul 2013

Bib

@inproceedings{BIKS:13,
  title = {{Homogeneous polynomially parameter-dependent state feedback controllers for finite time stabilization of linear time-varying systems}},
  author = {Borges, Renato Alves and Ishihara, Jo{\~{a}}o Yoshiyuki and Kussaba, Hugo T. M. and Silva, Larissa P.},
  year = {2013},
  month = jul,
  booktitle = {Proceedings of the 2013 European Control Conference},
  pages = {3889--3894},
}

Finite time robust filtering for time-varying uncertain polytopic linear systems

Renato Alves Borges, João Yoshiyuki Ishihara, Iara G. Rocha, Lara O. Risso, and Hugo T. M. Kussaba

In Proceedings of the 2013 European Control Conference, Jul 2013

Bib

@inproceedings{BIRRK:13,
  title = {{Finite time robust filtering for time-varying uncertain polytopic linear systems}},
  author = {Borges, Renato Alves and Ishihara, Jo{\~{a}}o Yoshiyuki and Rocha, Iara G. and Risso, Lara O. and Kussaba, Hugo T. M.},
  year = {2013},
  month = jul,
  booktitle = {Proceedings of the 2013 European Control Conference},
  pages = {1854--1859},
}

2011

A hybrid metric for digital video quality assessment

Mylène C. Q. Farias, Marcelo M. Carvalho, Hugo T. M. Kussaba, and Bruno H. A. Noronha

In Proceedings of 2011 IEEE International Symposium on Broadband Multimedia Systems and Broadcasting, Jun 2011

Bib

@inproceedings{FCKN:11,
  title = {{A hybrid metric for digital video quality assessment}},
  author = {Farias, Myl{\`{e}}ne C. Q. and Carvalho, Marcelo M. and Kussaba, Hugo T. M. and Noronha, Bruno H. A.},
  year = {2011},
  month = jun,
  booktitle = {Proceedings of 2011 IEEE International Symposium on Broadband Multimedia Systems and Broadcasting},
  publisher = {IEEE},
  pages = {1--6},
  doi = {10.1109/BMSB.2011.5954900},
}

2010

Blind estimation of blocking artifacts in digital videos

Hugo T. M. Kussaba, and Mylène C. Q. Farias

In Proceedings of LatinDisplay 2010/IDRC 2010, Nov 2010

Bib

@inproceedings{KF:10,
  title = {{Blind estimation of blocking artifacts in digital videos}},
  author = {Kussaba, Hugo T. M. and Farias, Myl{\`{e}}ne C. Q.},
  year = {2010},
  month = nov,
  booktitle = {Proceedings of LatinDisplay 2010/IDRC 2010},
}