Takashi TSUBOUCHI
 University of Tsukuba
Graduate School of Systems and Information Engineering
Department of Intelligent Interaction Technologies


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Publications  [-2005]
>>Click here for the papers after 2006
Journal Paper [-2005]
  1. K.Yamazaki, M.Tomono, T.Tsubouchi and S.Yuta : "3-D Object Modeling by a Camera Mounted on a Mobile Robot", Journal of The Robotics Society of Japan, vol.23, no.7, pp.102-111, 2005.
  2. K.Ohno, T.Tsubouchi, B.Shigematsu and S.Yuta: "Differential GPS and Odometry-Based Outdoor Navigation of a Mobile Robot," Advanced Robotics, vol.18, no.6, pp.611-635, 2004.
  3. K.Ohno, T.Tsubouchi, S.Maeyama and S.Yuta : "Recognition of Walkway Area based on Color Image Segmentation and Autonomous Mobile Robot Walkway Following", Transactions of the Japan Society of Mechanical Engineers C, vol.70, no.693, pp.1380-1387, 2004.
  4. M.Sekikawa, N.Inaba and T.Tsubouchi: "Chaos via Duck Solution Breakdown in a Piecewise Linear van der Pol Oscillator Driven by an Extremely Small Periodic Perturbation," Physica D, no.194, pp.227-249, 2004.
  5. N.Inaba, M.Sekikawa, T.Endo and T.Tsubouchi: "Revealing the Trick of Taming Chaos by Weak Harmonic Perturbations," International Journal of Bifurcation and Chaos, Vol.13, No.10, pp.2905-2915, 2003.
  6. Li Wen, T.Tsubouchi and S.Yuta: "Manipulative Difficulty of a Mobile Robot with Maltiple Trailers in Pushing and Towing," Advanced Robotics, vol.14, no.3, pp.169-183, 2000.
  7. Y.Ando, T.Tsubouchi and S.Yuta: "Development of Ultra Wide Angle Laser Range Sensor and Navigation of a Mobile Robot in a Corridor Environment," Journal of Robotics and Mechatronics, vol.11, no.1, pp.25-32, 1999.
  8. S.Sarata, T.Tsubouchi and S.Yuta : "Path Planning of Wheel Loader for Piled Ore Loading Operation", Journal of the Mining and Materials Processing Institute of Japan, vol.112, no.8, pp.531-536, 1996.
  9. Y.Ando, T.Tsubouchi and S.Yuta: "A Reactive Wall Following Algorithm and its Behavior of an Autonomous Mobile Robot with Sonarring," Journal of Robotics and Mechatronics, vol.8, no.1, pp.33-39, 1996.
  10. T.Tsubouchi, T.Naniwa and S.Arimoto: "Planning and Navigation by a Mobile Robot in the Presence of Multiple Moving Obstacles and their Velocities," Journal of Robotics and Mechatronics, vol.8, no.1, pp.58-66, 1996.
  11. 登内, 坪内, 有本:「観測モデルに誤りがある場合の最適フィルタについて」, 計測自動制御学会論文誌, vol.31, no.8, pp.1168-1174, 1995.
  12. Y.Tonouchi, T.Tsubouchi and S.Arimoto : "A Position Estimation which Takes Account of a Closed Space Model for a Mobile Robot -A Bayesian Fusion Method Using Internal Sensory Data and Knowledge about Work Space-", Journal of the Robotics Society of Japan, vol.12, no.5, pp.695-699, 1994.
  13. S.Iida, T.Tsubouchi and S.Yuta: "Position Identification Method for Mobile Robots Using Color Images," Advanced Robotics, vol.7, no.3, pp.261-282, 1993.
  14. S.Iida, T.Tsubouchi and S.Yuta : "Position Identification Method for Mobile Robots using Color Image", Journal of The Robotics Society of Japan, vol.8, no.6, pp.1-11, 1990.
  15. T.Tsubouchi and S.Yuta : "Representation of Map and Generation of Perspective for the Mobile Robot Vision System in Building Environment", Journal of The Robotics Society of Japan, vol.7, no.3, pp.87-97, 1989.
  16. T.Tsubouchi, Y.Kanayama and S.Yuta : "Line Segment Extraction by Area Generation according to Gradient Direction of Pixels and Least Square Fitting", Journal of The Robotics Society of Japan, vol.4, no.3, pp.14-24, 1986.
Proceeding [-2005]
  1. S.Sarata, Y.Weerakamhaeng, A.Horiguchi and T.Tsubouchi: "V Shape Path Generation for Loading Operation by Wheel Loader," Preprints of Int. Conf. on Field and Service Robotics, pp.592-603, 2005.
  2. S.Sarata, Y.Weeramhaeng and T.Tsubouchi: "Approach Path Generation to Scooping Position for Wheel Loader," Proc. of IEEE Int. Conf. on Robotics and Automation, pp.1821-1826, 2005.
  3. T.Tsubouchi, A.Tanaka, A.Ishioka, M.Tomono and S.Yuta: "A SLAM Based Teleoperation and Interface System for Indoor Environment Reconnaissance in Rescue Activities," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1096-1102, 2004.
  4. K.Yamazaki, M.Tomono, T.Tsubouchi and S.Yuta: "Object Shape Reconstruction and Pose Estimation by a Camera Mounted on a Mobile Robot," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.4019-4025, 2004.
  5. K.Yamazaki, M.Tomono, T.Tsubouchi and S.Yuta: "3-D object Modeling by a Camera Equipped on a Mobile Robot," Proc. of IEEE Int. Conf. on Robotics and Automation, pp.1399-1405, 2004.
  6. K.Ohno, T.Tsubouchi, B.Shigematsu and S.Yuta: "Proper use of GPS for Outdoor Navigation by an Autonomous Mobile Robot," Int. Conf. on Intelligent Autonomous Systmes-8, pp.1070-1079, 2004.
  7. K.Ohno, T.Tsubouchi, and S.Yuta: "Outdoor Map Building Based on Odometry and RTK-GPS Positioning Fusion," Proc. of IEEE Int. Conf. on Robotics and Automation, pp.684-690, 2004.
  8. K.Ohno, T.Tsubouchi, B.Shigematsu and S.Yuta: "Outdoor Navigation of a Mobile Robot between Buildings Based on DGPS and Odometry Data Fusion," 2003 IEEE Int. Conf. on Robotics and Automation, pp.1978-1984, 2003.
  9. K.Ohno, T.Tsubouchi, B.Shigematsu, S.Maeyama and S.Yuta: "Mobile Robot Navigation Based on DGPS and Odometry in Campus Environment," Int. Conf. on Field and Service Robotics '03, pp.189-194, 2003.
  10. S.Kang, M.Nam, T.Tsubouchi and S.Yuta: "Wheeled Blimp: Hybrid Structured Airship with Passive Wheel Mechanism for Tele-guidance Applications," 2003 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.3552-3557, 2003.
  11. T.Tsubouchi, T.Yamaguchi and S.Yuta: "Online Sensor-based Behavior Decision and Navigation of a Mobile Robot in Unknown Indoor Environment," Bruno Siciliano and Paolo Dario Eds., Experimental Robotics VIII (Springer Tracts in Advanced Robotics 5), pp.168-177, Springer 2003.
  12. N.Inaba, M.Sekikawa, T.Endo and T.Tsubouchi: "Trick of Suppression of Chaos by Weak Resonant Perturbations," Proc. of IEEE Int. Symp. on Circuits and Systems, vol.2, pp.522-525, 2002.
  13. Y.Weerakamhaeng, T.Tsubouchi, S.Sarata and S.Yuta: "Path Generation for Articulated Steering Type Vehicle Using Symmetrical Clothoid," Proc. of 2002 IEEE Int. Conf. on Industrial Technology, pp.187-192, 2002.
  14. T.Tsubouchi, S.Sarata, H.Osumi, and M.Kurisu: "Introduction of Yamazumi Project - Trial for Autonomous Heavy Vehicles at Construction Site," Proc. of 2002 IEEE Int. Conf. on Industrial Technology, pp. 514-518, 2002.
  15. S.Sarata, H.Osumi, G.Matsuda, Y.Hirai and T.Tsubouchi: "Motion Control for Bucket of Wheel Loader based on Shape of Pile and Resistance Force," Proc. of 18th Int. Symp. on Automation and Robotics in Construction, pp.259-264, 2001.
  16. T.Tsubouchi, H.Suzuki, E.Koyanagi and S.Yuta: "An Experimental Autonomous Bicycle and Its Stabilized Moving," Proc. of IFAC Workshop on Mobile Robotics, pp.67-72, 2001.
  17. K.Ohno, T.Tsubouchi, S.Maeyama and S.Yuta: "A Mobile Robot Campus Walkway Following with Daylight-Change-Proof Walkway Color Image Segmentation," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.77-83, 2001.
  18. Li Wen, T.Tsubouchi and S. Yuta: "Manipulative Difficulty Index of a Mobile Robot with Multiple Trailers in Pushig and Towing with Imperfect Measurement," Proc. of Int. Conf. on Robotics and Automation, pp.2264-2269, 2000.
  19. T.Tsubouchi, S.Takaki, Y.Kawaguchi and S.Yuta: "A Straight Pipe Observation from the Inside by Laser Spot Array and a TV Camera," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.82-87, 2000.
  20. K.Ohno, T.Tsubouchi, S.Maeyama and S.Yuta: "Campus Walkway Following of an Autonomous Mobile Robot Based on Color Image," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1690-1695, 2000.
  21. T.Tsubouchi, Y.Ando and S.Yuta: "A Mobile Robot Navigation by Means of Range Data from Ultra Wide Angle Laser Sensor and Simple Linguistic Behavior Instructions," Peter Corke et al. Ed., Experimental Robotics VI, pp.89-97, Springer-Verlag, 1999.
  22. Li Wen, T.Tsubouchi and S.Yuta: "On a Manipulative Difficulty of a Mobile Robot with Multiple Trailers for Pushing and Towing," Proc. of Int. Conf. on Robotics and Automation, pp.13-18, 1999.
  23. S.Sarata, T.Tsubouchi and K.Satoh: "Scoop Motion Planning and Control Based on Shape of Piled Ore," Proc. of 4th Int. Symp. on Mine Mechanization and Automation, vol.B1, pp.23-26, 1997.
  24. T.Sekimoto, T.Tsubouchi and S.Yuta: "A Simple Driving Device for a Vehicle - Implementation and Evaluation -," IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.147-154, 1997.
  25. M.Viale, T.Tsubouchi and S.Yuta: "A Practical Path and Motion Planner for a Tractor - trailer Robot," IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.989-996, 1997.
  26. R.Nakajima, T.Tsubouchi, S.Yuta and E.Koyanagi: "A Development of a New Mechanism of an Autonomous Unicycle," IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.906-912, 1997.
  27. H.Ishimoto, T.Tsubouchi, S.Sarata and S.Yuta: "A Practical Trajectory Following of an Articulated Steering Type Vehicle," Proc. of Int. Conf. on Field Service Robotics '97, pp.412-419, 1997.
  28. T.Tsubouchi, H.Ishimoto, S.Sarata and S.Yuta: "A Trajectory Following Control for a Miniature Wheel Loader," Proc. of Int. Symp. on Automation and Robotics in Construction, pp.699-708, 1996.
  29. T.Sekimoto, T.Tsubouchi and S.Yuta: "An Implementation of a Human Interface using a Touch Panel and Visual Images for Controlling a Vehicle," Proc. of IEEE Int. Workshop on Robot and Human Communication, pp.451-455, 1996.
  30. M.Viale, T.Tsubouchi and S.Yuta: "Towards an Onboard Path Planning for a Non-holonomic Autonomous Mobile Robot Towing a Trailer," Latin America Congress on Automatic Control, pp.935-941, 1996.
  31. M.Viale, T.Tsubouchi and S.Yuta: "Yamabico Project: Development of Experimental Robot," Latin America Congress on Automatic Control, pp.929-934, 1996.
  32. T.Tsubouchi, S.Kuramochi and S.Arimoto: "Iterated Forecast and Planning Algorithm to Steer and Drive a Mobile Robot in the Presence of Multiple Moving Objects," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, vol.2, pp.33-38, 1995.
  33. T.Sekimoto, T.Tsubouchi and S.Yuta: "A Remote Operation Using Visual Images and a Pointing Device for Mobile Robot Control," Proc. of 2nd Int. Conf. on Mechatronics and Machine Vision in Practice, pp.260-263, 1995.
  34. T.Tsubouchi and S.Arimoto: "Behavior of a Mobile Robot Navigated by an Iterated Forecast and Planning Scheme in the Presence of Multiple Moving Obstacles," Proc. of IEEE Int. Conf. on Robotics and Automation, pp.2470-2475, 1994.
  35. Y.Tonouchi, T.Tsubouchi and S.Arimoto: "Fusion of Dead-reckoned Position with a Workspace Model for a Mobile Robot by Bayesian Inference," Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.1347-1354, 1994.
  36. S.Arimoto, T.Naniwa and T.Tsubouchi: "Principle of Orthogonalization for Hybrid Control of Robot Manipulators," Robotics, Mechatronics and Manufacturing Systems, pp.295-302, T.Takamori and K.Tsuchiya eds., Elsevier Science Publishers B.V., (North-Holand) 1993.
  37. T.Tsubouchi, A.Hirose and S.Arimoto: "A Navigation Scheme with Learning for a Mobile Robot among Multiple Moving Obstacles," Proc. of IEEE Int. Conf. on Intelligent Robots and Systems, pp.2234-2240, 1993.
  38. Y.Kawaguchi, Y.H.Liu, T.Tsubouchi and S.Arimoto: "An Efficient Algorithm of Path Planning for an Internal Gas Pipe Inspection Robot," Proc. of IEEE Int. Conf. on Intelligent Robots and Systems, pp.1155-1160, 1992.
  39. T.Tsubouchi, K.Hiraoka, T.Naniwa and S.Arimoto: "A Mobile Robot Navigation Scheme for an Environment with Multiple Moving Obstacles," Proc. of IEEE Int. Conf. on Intelligent Robots and Systems, pp.1791-1798, 1992.
  40. S.Arimoto, Y.H.Liu, T.Naniwa, V.Para-vega and T.Tsubouchi: "Model-based Adaptive Control for Robot Manipulators under Geometric Constraint," Proc. of the 2nd Int. Symp. on Measurement and Control in Robotics, pp.589-596, 1992.
  41. T.Tsubouchi, M.Yamazaki and K.Aoki: "A Map Service System for Mobile Robots Using a Frame System," Proc. of the 2nd Makuhari Int. Conf. on High Technology, pp.275-278, 1991.
  42. T.Tsubouchi and S.Yuta: "Matching between an Abstracted Real Image and a Generated Image from Environment Map - for the Map Assisted Mobile Robot's Vision System -," Proc. of Int. Symp. and Exposition on Robots, pp.338-351, 1988.
  43. T.Tsubouchi and S.Yuta: "The Map Assisted Mobile Robot's Vision System - an Experiment on Real Time Environment Recognition -," Proc. of IEEE Int. Workshop on Intelligent Robots and Systems, pp.659-664, 1988.
  44. T.Tsubouchi and S.Yuta: "Map Assisted Vision System of Mobile Robots for Reckoning in a Building Environment," Proc. of IEEE Int. Conf. on Robotics and Automation, pp.1978-1984, 1987.
Presentation : Domestic Conference [-2005]
  1. J.H.Lee, T.Tsubouchi, K.Yamamoto and S.Egawa : "A Study on Obstacle Tracking by Laser Range Finder", 6th SICE System Integration Division Annual Conf. (SI2005), 2D2-3, (CD-ROM), 2005.
  2. K.Yamazaki, M.Tomono, T.Tsubouchi and S.Yuta : "Automatic Object Grasping Based on 3D Surface Model", The 23rd Annual Conf. of The Robotics Society of Japan, 3C17, (CD-ROM), 2005.
  3. K.Yamazaki, M.Tomono, T.Tsubouchi and S.Yuta : "A Grasping Strategy based on Geometric Form of an Object using Oriented Points", 2005 JSME Conf. on Robotics and Mechatronics, 1P2-N-089, (CD-ROM), 2005.
  4. O.Kanai, S.Shimizu, H.Osumi, S.Sarata, H.Adachi, T.Tsubouchi, M.Kurisu : "Scooping Control of A Rock Pile by Wheel Loaders - Analysis of Relationship between Bucket Shapes and Reaction Forces from Rock Piles -", 2005 JSME Conf. on Robotics and Mechatronics, 2A1-S-056, (CD-ROM), 2005.
  5. E.Takeuchi, T.Tsubouchi and S.Yuta : "A work effecter changeable mobile robot system", 2005 JSME Conf. on Robotics and Mechatronics, 2P1-N-054, (CD-ROM), 2005.
  6. A.Tanaka, T.Tsubouchi, M.Tomono and S.Yuta : "Development of 3D Information Acquisition Possible Investigation Robot for Underground Disaster Area", 2005 JSME Conf. on Robotics and Mechatronics, 2P1-S-095, (CD-ROM), 2005.
  7. E.Takeuchi, T.Tsubouchi and S.Yuta : "A Function Expandable Robot System with an Auto Effector Changer", The 10th Robotics Symposia, pp.99-104, 2005.
  8. A.Tanaka, M.Tomono, T.Tsubouchi and S.Yuta: "Human Assisted Infrmation Acquisition System for Indoor Rescue Activity with a Teleoperated Mobile Robot", 2004 JSME Conf. on Robotics and Mechatronics, 1A1-H-23, (CD-ROM), 2004.
  9. A.Ishioka, M.Tomono, T.Tsubouchi, S.Yuta : "Probablistic Localization and Mapping by Mobile Robot with Fusing Odometry and Estimated Motion from Scan Matched LRF Data", 2004 JSME Conf. on Robotics and Mechatronics, 1P1-L1-74, (CD-ROM), 2004.
  10. H.Kojima, T.Tsubouchi and S.Yuta : "In-pipe Robot Operation System with Laser Spot Array Range Sensor", 2004 JSME Conf. on Robotics and Mechatronics, 2A1-L1-49, (CD-ROM), 2004.
  11. K.Ohno, T.Tsubouchi and S.Yuta : "Building a landmark map of architecture walls and position correction based on LRF for mobile robot outdoor navigation", 2004 JSME Conf. on Robotics and Mechatronics, 2P1-H-47, (CD-ROM), 2004.
  12. H.Osumi, S.Sarata, T.Tsubouchi, M.Kurisu and H.Adachi : "Autonomous Scooping of Rock Pile by Wheel Loader ―Abstract of "YAMAZUMI" Project―", 2004 JSME Conf. on Robotics and Mechatronics, 2P1-L2-14, (CD-ROM), 2004.
  13. K.Nakagawa, T.Tsubouchi, K.Sungchul and S.Yuta : "Captive Balloon Posture Control System for a Mobile Robot -Posture Control with a Parallel Wire Driven Mechanism-", 2004 JSME Conf. on Robotics and Mechatronics, 2P2-L1-20, (CD-ROM), 2004.
  14. K.Yamazaki, M.Tomono, T.Tsubouchi and S.Yuta : "Online 3-D Object Modeling by a Mobile Robot with a Camera", The 22nd Annual Conf. of The Robotics Society of Japan, 2F14, (CD-ROM), 2004.
  15. S.Sarata, T.Tsubouchi, H.Osumi and M.Kurisu : "Trial for Autonomous System for Loading Operation by Wheel Loader - Yamazumi Project -", The 10th Symposium on Construction Robotics in Japan (10th SCR), pp.173-178, 2004.
  16. T.Tsubouchi, Y.Weerakamhaeng and S.Sarata : "V-shape Trajectory Planning for Autonomous Motion of a Wheel Loader", The 10th Symposium on Construction Robotics in Japan (10th SCR), pp.185-194, 2004.
  17. A.Horiguchi, T.Tsubouchi, S.Sarata, Y.Kawai and H.Tomita : "Stereo-vision System for Scoopint operation at gravel mine", The 10th Symposium on Construction Robotics in Japan (10th SCR), pp.195-200, 2004.
  18. T.Iwagami, T.Tsubouchi, S.Yuta and J.Kajiwara : "A Development of Camera System to Capture a Spherical Image", 5th SICE System Integration Division Annual Conf. (SI2004), 1B1-2, (CD-ROM), 2004.
  19. A.Tanaka, T.Tsubouchi, M.Tomono and S.Yuta : "Development of Teleoperated Investigation Robot for Underground Disaster Area", 5th SICE System Integration Division Annual Conf. (SI2004), 1B2-5, (CD-ROM), 2004.
  20. E.Takeuchi, T.Tsubouchi and S.Yuta : "A Robot System Performs Multiple Tasks with Changing Operation Effectors", 5th SICE System Integration Division Annual Conf. (SI2004), 2E4-6, (CD-ROM), 2004.
  21. K.Ohno, T.Tsubouchi and S.Yuta : "Landmarks Map Building based on 3D Structure Data of Outdoor Environment", The 9th Robotics Symposia, pp.44-50, 2004.
  22. K.Yamazaki, M.Tomono, T.Tsubouchi and S.Yuta : "3-D Object Modeling by a Camera Equipped on a Mobile Robot", The 9th Robotics Symposia, pp.312-317, 2004.
  23. K.Ohno, T.Tsubouchi, B.Shigematsu, S.Maeyama and S.Yuta : "Localization and Navigation based on DGPS and Odometry Data fusion in Campus Walkway between Buildings", The 8th Robotics Symposia, pp.276-282, 2003.
  24. K.Yamazaki, M.Tomono, T.Tsubouchi and S.Yuta : "Object picking by a mobile manipulator -Recognition of a target object in a realistic environment-", The 8th Robotics Symposia, pp.337-342, 2003.
  25. J.Ochida, T.Tsubouchi and S.Yuta : "Mobile Robot Long Distance Navigation in a Corridor Environment", The 8th Robotics Symposia, pp.367-372, 2003.
  26. K.Ohno, T.Tsubouchi, B.Shigematsu and S.Yuta : "Localization based on DGPS and Odometry Data Fusion in Campus Walkway among Trees", 2003 JSME Conf. on Robotics and Mechatronics, 1P1-1F-C4, (CD-ROM), 2003.
  27. S.Kang, M.Nam, T.Tsubouchi and S.Yuta: "Design and Stationary Position Control of Robotic Wheeled Blimp," 2003 JSME Conf. on Robotics and Mechatronics, 1P1-1F-E8, (CD-ROM), 2003.
  28. K.Yamazaki, M.Tomono, T.Tsubouchi and S.Yuta : "Searching an Object for Manipulation by a Mobile Robot in Realistic Environment", 2003 JSME Conf. on Robotics and Mechatronics, 2P1-1F-E2, (CD-ROM), 2003.
  29. E.Takeuchi, T.Tsubouchi and S.Yuta : "Development of Sensory Information Processing Middlewares for a Mobile Robot", 2003 JSME Conf. on Robotics and Mechatronics, 2P2-3F-C6, (CD-ROM), 2003.
  30. K.Ohno, T.Tsubouchi and S.Yuta : "A Conception of Robust Outdoor Navigation for a Mobile Robot on Map", The 21st Annual Conf. of The Robotics Society of Japan, 2K17, (CD-ROM), 2003.
  31. K.Yamazaki, M.Tomono, T.Tsubouchi and S.Yuta : "Sequential Shape Reconstruction of the Target Object for Picking up by a Mobile Manipulator", The 21st Annual Conf. of The Robotics Society of Japan, 2K26, (CD-ROM), 2003.
  32. E.Takeuchi, T.Tsubouchi and S.Yuta : "A mobile robot software system architecture with sensory data integration", 4th SICE System Integration Division Annual Conf.(SI2003), 1A4-3, (CD-ROM), 2003.
  33. K.Yamazaki, M.Tomono, T.Tsubouchi and S.Yuta : "3-D Shape Acqusition of a Target Object for a Mobile Manipulator - Improvements in Robustness and Accuracy -", 4th SICE System Integration Division Annual Conf.(SI2003), 3G5-4, (CD-ROM), 2003.
  34. T.Yamamoto, T.Tsubouchi and S.Yuta : "Motion Control of an Autonomous Unicycle Robot", 4th SICE System Integration Division Annual Conf. (SI2003), 3I5-5, (CD-ROM), 2003.
  35. A.Tanaka, A.Ishioka, M.Tomono, T.Tsubouchi and S.Yuta : "SLAM Based Environment Modeling for the Disaster Area with a Teleoperated Mobile Robot", 4th SICE System Integration Division Annual Conf. (SI2003), 3J3-3, (CD-ROM), 2003.
  36. K.Ohno, T.Tsubouchi, B.Shigematsu, S.Maeyama and S.Yuta : "Campus Outdoor Navigation of an Autonomous Mobile Robot -RTK-GPS Trial and Path Map Construction-", The 7th Robotics Symposia, pp.19-24, 2002.
  37. A.Suzukawa, T.Tsubouchi and S.Yuta : "A PC and realtime OS based controller for a mobile robot", 2002 JSME Conf. on Robotics and Mechatronics, 1A1-F03, (CD-ROM), 2002.
  38. K.Yamazaki, T.Tsubouchi and S.Yuta : "Picking up an rectangular object by a mobile manipulator with shape and position recognition", 2002 JSME Conf. on Robotics and Mechatronics, 2A1-I08, (CD-ROM), 2002.
  39. H.Kojima, T.Tsubouchi, Y.Kawaguchi and S.Yuta : "Vision Sensor for Robot in Gaspipe", 2002 JSME Conf. on Robotics and Mechatronics, 2A1-I09, (CD-ROM), 2002.
  40. K.Ohno, T.Tsubouchi, B.Shigematsu, S.Maeyama and S.Yuta : "Map Base Outdoor Navigation Trial by Position Fusion DGPS and Odometry", The 20th Annual Conf. of The Robotics Society of Japan, 3A31, (CD-ROM), 2002.
  41. 友納, 坪内, 油田: 「遠隔移動ロボットとオペレータの協調による被災地環境モデル生成システムの開発」, 3rd SICE System Integration Division Annual Conf.(SI2002), pp.61-62, 2002.
  42. K.Ohno, T.Tsubouchi, S.Maeyama and S.Yuta : "Campus Walkway Following of an Autonomous Mobile Robot -Segmentation of Color Image for Walkway Area Extraction by using Color-", The 6th Robotics Symposia, pp.348-353, 2001.
  43. A.Suzukawa, T.Tsubouchi and S.Yuta : "System implementation of an autonomous mobile robot “Yamabico” architecture on a PC/AT system, The 19th Annual Conf. of The Robotics Society of Japan(CD--ROM),3K25, 2001.
  44. E.Hashimoto, T.Tsubouchi and S.Yuta : "A Path Planning Method for a Mobile Robot under the Flow of Moving Objects", The 5th Robotics Symposia, pp.415-420, 2000.
  45. K.Kaneda, T.Tsubouchi and S.Yuta : "Moving Object Avoidance using Stereo Vision", The 18th Annual Conf. of The Robotics Society of Japan, pp.339-340, 2000.
  46. K.Ohno, T.Tsubouchi ,S.Maeyama and S.Yuta : "Outdoor Navigation for an Autonomous Mobile Robot", 2000 JSME Conf. on Robotics and Mechatronics, 2P1-46-074, (CD-ROM), 2000.
  47. D.Takahashi, T.Tsubouchi and S.Yuta : "An Implementation of Wheel Velocity Controller for PWS type Mobile Robots", The 4th Robotics Symposia, pp.99-106, 1999.
  48. K.Ohno, T.Tsubouchi, S.Maeyama and S.Yuta : "Extraction of a Path Way Area from Color Image for Outdoor Mobile Robot navigation", The 17th Annual Conf. of The Robotics Society of Japan, pp.623-624, 1999.
  49. W.Li, T.Tsubouchi and S.Yuta : 「多連トレーラ型移動ロボットの操作容易性に関する考察 -第２報 関節角の測定値に量子化誤差が存在する場合 -」, The 17th Annual Conf. of The Robotics Society of Japan, pp.861-862, 1999.
  50. Y.Ando, T.Tsubouchi and S.Yuta : "Development of Laser Range Finder Made of Ultra-wide-lens Cameras and Fan Beam Lasers for Mobile Robot, and Following the Wall by Fitting Line Segments to Sensing Data", The 3rd Robotics Symposia, pp.253-260, 1998.
  51. T.Hizume, T.Tsubouchi and S.Yuta : "Recognition of Moving Obstacles's Velocity Vector by Using Optical flow", The 3rd Robotics Symposia, pp.267-272, 1998.
  52. Y.Ando, T.Tsubouchi and S.Yuta : "Wall Following by Autonomous Mobile Robot with Laser Range Sensor", 1998 JSME Conf. on Robotics and Mechatronics, 1AII1-12, (CD-ROM), 1998.
  53. Y.Ando, T.Tsubouchi and S.Yuta : "Mobile Robot Navigation using Linguistic Instruction in Wide Area Indoor Environment", The 16th Annual Conf. of The Robotics Society of Japan, pp.1599-1600, 1998.
  54. W.Li, T.Tsubouchi and S.Yuta : "A Research on the Manipulative Difficulty for a Mobile Robot Towing and Pushing Multiple Trailers", The 16th Annual Conf. of The Robotics Society of Japan, pp.689-690, 1998.
  55. 油田, 坪内, 永谷:「マニピュレータを有する自律移動ロボットによる実環境中の自律行動ナビゲーション」, 第2回 重点領域研究「知能ロボット」シンポジウム 予稿集, pp.153-156, 1997.
  56. Y.Hada, T.Tsubouchi and S.Yuta : "Consideration on an Autonomous Mobile Robot with Long Time Activity", The 15th Annual Conf. of The Robotics Society of Japan, pp.243-244, 1997.
  57. T.Hidume, T.Tsubouchi, Y.Kawaguchi and S.Yuta : "Recognition for Inside of Pipes using Spot Array Range Sensor for In-pipe Inspection Robot", The 15th Annual Conf. of The Robotics Society of Japan, pp.259-260, 1997.
  58. H.Ishimoto, T.Tsubouchi, S.Yuta and S.Sarata : "An Autonomous Vehicle Follows a Trajectory Given by Curvature along Run Distance", The 15th Annual Conf. of The Robotics Society of Japan, pp.567-568, 1997.
  59. Y.Ando, T.Tsubouchi and S.Yuta : "The development of optical range sensor using ultra-wide angle camera and fan beam laser", The 15th Annual Conf. of The Robotics Society of Japan, pp.593-594, 1997.
  60. T.Hidume, T.Tsubouchi and S.Yuta : "Recognition of Moving Obstacles's Velocity Vector by Using Optical Range Sensor", The 15th Annual Conf. of The Robotics Society of Japan, pp.595-596, 1997.
  61. G.Watanabe, T.Tsubouchi and S.Yuta : "Feed forward current control on DC motor by PWM drive method", The 15th Annual Conf. of The Robotics Society of Japan, pp.667-668, 1997.
  62. Y.Tokunaga, T.Tsubouchi and S.Yuta : "A PWM motor control circuit with low power consumption for a middle size robot", The 15th Annual Conf. of The Robotics Society of Japan, pp.669-670, 1997.
  63. 油田, 坪内, 大矢:「反射的・非数量的方法を用いた自立移動ロボットによる実環境中の自律ナビゲーションの実現」, 第1回 重点領域研究「知能ロボット」 シンポジウム 予稿集, pp.145-148, 1996.
  64. M.Viale, T.Tsubouchi and S.Yuta : "Development of a Path Planning Technique focused on a Trailer-towing type Autonomous Mobile Robot", The 14th Annual Conf. of The Robotics Society of Japan, pp.85-86, 1996.
  65. T.Sekimoto, T.Tsubouchi and S.Yuta : "A human interface indicating a course directly in displayed environment for mobile robot operation", The 14th Annual Conf. of The Robotics Society of Japan, pp.337-338, 1996.
  66. R.Nakajima, T.Tsubouchi and S.Yuta : "Development of an autonomous unicycle with a large arc-shaped section wheel", The 14th Annual Conf. of The Robotics Society of Japan, pp.209-210, 1996.
  67. H.Ishimoto, T.Tsubouchi, S.Yuta and a S.Sarata : "A Locomotion Command System for an Autonomous Miniature Wheel Loader", The 14th Annual Conf. of The Robotics Society of Japan, pp.601-602, 1996.
  68. T.Sekimoto, T.Tsubouchi and S.Yuta : "A Remote Operating System Using Visual Images and a Pointing Device for a Mobile Robot", The 13th Annual Conf. of The Robotics Society of Japan, pp.163-164, 1995.
  69. H.Ishimoto, T.Tsubouchi, S.Yuta and S.Sarata : "An Implementation of Control System for Autonomous Wheel Loader Operation", The 13th Annual Conf. of The Robotics Society of Japan, pp.183-184, 1995.
  70. Y.Ando, T.Tsubouchi and S.Yuta : "An algorithm and its limitation of Sonar-based wall following by an autonomous mobile robot", The 13th Annual Conf. of The Robotics Society of Japan, pp.585-586, 1995.
  71. T.Tsubouchi, E.Yamada and S.Arimoto : "Image Matching and Self-position Identification of a Mobile Robot by Using a TV Camera and an Environment Model", The 3rd Robot Symposium of The Robotics Society of Japan, pp.91-96, 1993.
  72. T.Tsubouchi and S.Arimoto : "A navigation scheme by a mobile robot in the presence of multiple moving obstacles -Report 2: learning navigation behaviors-", The 11th Annual Conf. of The Robotics Society of Japan, pp.425-428, 1993.
  73. Y.Tonouchi, T.Tsubouchi and S.Arimoto : "A Position Estimation for a Mobile Robot Moving in a Bounded Space -A Bayesian Inference Approach on the Basis of the Bounded Space Model-", The 11th Annual Conf. of The Robotics Society of Japan, pp.161-164, 1993.
  74. E.Yamada, T.Tsubouchi, Y.H.Liu and S.Arimoto : "Position Estimation of a Mobile Robot Using a TV Camera and an Environment Model -Making Use of Normalvectors of Planes in a Camera Coordinate Space-", The 6th Intelligent Mobile Robot Symposium, pp.123-128, 1992.
  75. K.Hiraoka, T.Tsubouchi, T.Naniwa and S.Arimoto : "A Navigation Scheme for a Mobile Robot against Multiple Moving Obstacles -Report 1: Navigation without Motion Model of Obstacles-", The 6th Intelligent Mobile Robot Symposium, pp.69-74, 1992.
  76. Y.Kawaguchi, Y.H.Liu, T.Tsubouchi and S.Arimoto : "An Algorithm of Path Planning for an Internal Gas Pipe Inspection Robot", The 6th Intelligent Mobile Robot Symposium, pp.111-116, 1992.
  77. Y.Kawaguchi, T.Tsubouchi, Y.Yamada, T.Kikuta and S.Arimoto : "Recognition of Internal Gas Pipes based on Self-Organized Date-Base", The 2nd Robot Symposium of The Robotics Society of Japan, pp.181-186, 1992.
  78. 坪内, 有本:「複数の移動障害物がある環境下での移動ロボットのプランニングとナビゲーション」, 日本機械学会 第2回 インテリジェントシステム・シンポジウム 講演論文集, pp.309-314, 1992.
  79. E.Yamada, T.Tsubouchi and S.Arimoto : "A matching operation among line segments in images for self-position identification of a mobile robot -making use of error covariance of the robot position by dead reckoning-", The 10th Annual Conf. of The Robotics Society of Japan, pp.183-186, 1992.
  80. M.Takata, K.Aoki and T.Tsubouchi : "Map Service System for Self-contained Mobile Robot -introduction of the conception of time-", The 10th Annual Conf. of The Robotics Society of Japan, pp.975-978, 1992.
  81. M.Yamazaki, T.Tsubouchi, M.Takata, M.Hanafusa and K.Aoki : "To Make Intelligence of Map Service System for Self-contained Mobile Robots -Description with Frame-type Knowledge-representation and an Imprimentation Using Frame System-", The 1st Robot Symposium of The Robotics Society of Japan, pp.305-310, 1991.
  82. M.Takata, T.Tsubouchi and K.Aoki : "Three Dimensional Map Service System for Self-contained Mobile Robots - Three Dimensional Map with Frame-type Knowledge-representation -", The 9th Annual Conf. of The Robotics Society of Japan, pp.247-250, 1991.
  83. Y.Kawaguchi, T.Tsubouchi, T.Kikuta and S.Arimoto : "Map Representation based on Frame Theory for Internal Pipe Inspection Robot", The 9th Annual Conf. of The Robotics Society of Japan, pp.251-252, 1991.
  84. Y.Ashizawa, T.Tsubouchi and K.Aoki : "Texture region segmentation based on gradient direction of the first differential image", The 9th Annual Conf. of The Robotics Society of Japan, pp.863-864, 1991.
  85. T.Tsubouchi, K.Aoki, M.Yamazaki, M.Takata and M.Hanafusa : "A Mobile Robot's Map Service System based on Frame -Study 1 : Making Use of Frame System-", The 8th Annual Conf. of The Robotics Society of Japan, pp.547-550, 1990.
  86. ☆坪内, 油田:「移動ロボットのための地図を用いる視覚システムによるロボットの現在位置の推定法」, 第4回知能移動ロボットシンポジウム予稿集, pp.229-234, 1988.
  87. 坪内, 油田:「環境地図とカラーＴＶカメラを用いる屋内移動ロボットの視覚システム」, 電子情報通信学会技術研究報告 RPU88-28, vol.88 no.78, pp.57-64, 1988.
  88. T.Tsubouchi and S.Yuta : "Vision System Using Map for Mobile Robots (3) -An Algorithm of Matching between an Abstracted Real Image and an Image Generated from the Map-", The 5th Annual Conf. of The Robotics Society of Japan, pp.137-140, 1987.
  89. T.Tsubouchi, T.Kawashima and S.Yuta : "Man-machine Interface System on the Environment Model Creating for Mobile Robot", The 5th Annual Conf. of The Robotics Society of Japan, pp.357-358, 1987
  90. ☆坪内, 油田:「カラー画像による移動ロボットの環境認識」, 第3回知能移動ロボットシンポジウム予稿集, pp.67-72, 1986.
  91. T.Tsubouchi and S.Yuta : "Vision System Using Map for Mobile Robots (1) -System Construction and an Algorithm of Matching between a Real Image and an Image Created from the Map-", The 4th Annual Conf. of The Robotics Society of Japan, pp.341-344, 1986.
  92. T.Tsubouchi and S.Yuta : "Vision System Using Map for Mobile Robots (2) -Map Representation and Generation of Estimated Visual Range Information-", The 4th Annual Conf. of The Robotics Society of Japan, pp.345-348, 1986.
  93. ☆坪内, 金山, 油田:「濃淡画像の境界線として抽出された線分からの線図形構成」, The 3rd Annual Conf. of The Robotics Society of Japan, pp.173-176, 1985.
  94. 坪内, 金山, 油田:「領域分離と最小二乗法による濃淡画像からの線分抽出」, 日本情報処理学会コンピュータビジョン研究会 第31回, no.3, 1984.
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