Motoaki Hiraga

Publications

Review Articles

  1. Kazuhiro Ohkura and Motoaki Hiraga, "Methods of generating collective behavior in a robotic swarm: An automatic design based on a collective intelligence approach," Journal of the Society of Instrument and Control Engineers, Vol. 59, No. 2, pp. 131–136 (2020) [in Japanese]
    DOI: 10.11499/sicejl.59.131

Journals

  1. Motoaki Hiraga, "Topology and weight neuroevolution for social learning in robotic swarms," Artificial Life and Robotics (accepted)
    DOI: 10.1007/s10015-025-01078-2
  2. Daichi Morimoto, Motoaki Hiraga, Kazuhiro Ohkura, and Masaharu Munetomo, "Evolution and extraction of decision‑making mechanisms in collective perception of a robotic swarm," Artificial Life and Robotics (accepted)
    DOI: 10.1007/s10015-025-01075-5
  3. Chu Wang, Nanako Miura, Motoaki Hiraga, and Arata Masuda, "Flexible printed circuit-based triboelectric film sensor for integrity monitoring of tensile bolted joints," Engineering Research Express, Vol. 6, No. 3, Article No. 035542 (2024)
    DOI: 10.1088/2631-8695/ad6e58
  4. Masahiro Komura, Akiharu Miyamoto, Motoaki Hiraga, Daichi Morimoto, and Kazuhiro Ohkura, "Proposal and evaluation of surrogate-assisted self-adaptive MBEANN," Transactions of the Institute of Systems, Control and Information Engineers, Vol. 37, No. 8, pp. 216–224 (2024) [in Japanese]
    DOI: 10.5687/iscie.37.216
  5. Motoaki Hiraga, Masahiro Komura, Akiharu Miyamoto, Daichi Morimoto, and Kazuhiro Ohkura, "Improving the performance of mutation-based evolving artificial neural networks with self-adaptive mutations," PLOS ONE, Vol. 19, No. 7, Article No. e0307084 (2024)
    DOI: 10.1371/journal.pone.0307084
  6. Minh Tri Vu, Motoaki Hiraga, Nanako Miura, and Arata Masuda, "Failure mode classification for rolling element bearings using time-domain Transformer-based encoder," Sensors, Vol. 24, No. 12, Article No. 3953 (2024)
    DOI: 10.3390/s24123953
  7. Arumu Iwami, Daichi Morimoto, Naoya Shiozaki, Motoaki Hiraga, and Kazuhiro Ohkura, "Generating collective behavior of a robotic swarm using an attention agent with deep neuroevolution," Artificial Life and Robotics, Vol. 28, No. 4, pp. 669–679 (2023)
    DOI: 10.1007/s10015-023-00902-x
  8. Daichi Morimoto, Haruhi Tsukamoto, Motoaki Hiraga, Kazuhiro Ohkura, and Masaharu Munetomo, "An evolutionary robotics approach to a multi-legged robotic swarm in a rough terrain environment," Artificial Life and Robotics, Vol. 28, No. 4, pp. 661–668 (2023)
    DOI: 10.1007/s10015-023-00906-7
  9. Yoshiaki Katada, Takumi Hirokawa, Motoaki Hiraga, and Kazuhiro Ohkura, "MBEANN to robotic swarm controller design and the behavior analysis for cooperative transport," Journal of Robotics and Mechatronics, Vol. 35, No. 4, pp. 997–1006 (2023)
    DOI: 10.20965/jrm.2023.p0997
  10. Motoaki Hiraga, Daichi Morimoto, Yoshiaki Katada, and Kazuhiro Ohkura, "When less is more in embodied evolution: Robotic swarms have better evolvability with constrained communication," Journal of Robotics and Mechatronics, Vol. 35, No. 4, pp. 988–996 (2023)
    DOI: 10.20965/jrm.2023.p0988
  11. Daichi Morimoto, Yukiha Iwamoto, Motoaki Hiraga, and Kazuhiro Ohkura, "Generating collective behavior of a multi-legged robotic swarm by using deep reinforcement learning," Journal of Robotics and Mechatronics, Vol. 35, No. 4, pp. 977–987 (2023)
    DOI: 10.20965/jrm.2023.p0977
  12. Motoaki Hiraga, Yoshiaki Katada, and Kazuhiro Ohkura, "Echo state networks for embodied evolution in robotic swarms," Artificial Life and Robotics, Vol. 28, No. 1, pp. 139–147 (2023)
    DOI: 10.1007/s10015-022-00828-w
  13. Daichi Morimoto, Motoaki Hiraga, Naoya Shiozaki, Kazuhiro Ohkura, and Masaharu Munetomo, "Generating collective behavior of a multi-legged robotic swarm using an evolutionary robotics approach," Artificial Life and Robotics, Vol. 27, No. 4, pp. 751–760 (2022)
    DOI: 10.1007/s10015-022-00800-8
  14. Daichi Morimoto, Motoaki Hiraga, Naoya Shiozaki, Kazuhiro Ohkura, and Masaharu Munetomo, "Evolving collective step-climbing behavior in multi-legged robotic swarm," Artificial Life and Robotics, Vol. 27, No. 2, pp. 333–340 (2022)
    DOI: 10.1007/s10015-021-00725-8
  15. Motoaki Hiraga and Kazuhiro Ohkura, "Topology and weight evolving artificial neural networks in cooperative transport by a robotic swarm," Artificial Life and Robotics, Vol. 27, No. 2, pp. 324–332 (2022)
    DOI: 10.1007/s10015-021-00716-9
  16. Motoaki Hiraga, Yu Watanabe, and Kazuhiro Ohkura, "TWEANN approach to the double pole balancing problem: Feature comparison between NEAT and MBEANN," Transactions of the Institute of Systems, Control and Information Engineers, Vol. 35, No. 5, pp. 126–132 (2022) [in Japanese]
    DOI: 10.5687/iscie.35.126
  17. Boyin Jin, Yupeng Liang, Ziyao Han, Motoaki Hiraga, and Kazuhiro Ohkura, "A hierarchical training method of generating collective foraging behavior for a robotic swarm," Artificial Life and Robotics, Vol. 27, No. 1, pp. 137–141 (2022)
    DOI: 10.1007/s10015-021-00714-x
  18. Motoaki Hiraga, Yufei Wei, and Kazuhiro Ohkura, "Evolving collective cognition for object identification in foraging robotic swarms," Artificial Life and Robotics, Vol. 26, No. 1, pp. 21–28 (2021)
    DOI: 10.1007/s10015-020-00628-0
  19. Motoaki Hiraga, Yasumasa Tamura, and Kazuhiro Ohkura, "Behavioral specialization emerges from the embodiment of a robotic swarm," Artificial Life and Robotics, Vol. 25, No. 4, pp. 495–502 (2020)
    DOI: 10.1007/s10015-020-00641-3
  20. Daichi Morimoto, Motoaki Hiraga, Kazuhiro Ohkura, and Yoshiyuki Matsumura, "Generating and analyzing collective behavior in a robotic swarm by the use of deep reinforcement learning and deep neuroevolution," Transactions of the Institute of Systems, Control and Information Engineers, Vol. 33, No. 5, pp. 163–170 (2020) [in Japanese]
    DOI: 10.5687/iscie.33.163
  21. Yufei Wei, Xiaotong Nie, Motoaki Hiraga, Kazuhiro Ohkura, and Zlatan Car, "Developing end-to-end control policies for robotic swarms using deep Q-learning," Journal of Advanced Computational Intelligence and Intelligent Informatics, Vol. 23, No. 5, pp. 920–927 (2019)
    DOI: 10.20965/jaciii.2019.p0920
  22. Motoaki Hiraga and Kazuhiro Ohkura, "Effects of congestion on swarm performance and autonomous specialization in robotic swarms," Journal of Robotics and Mechatronics, Vol. 31, No. 4, pp. 526–534 (2019)
    DOI: 10.20965/jrm.2019.p0526
  23. Yufei Wei, Motoaki Hiraga, Kazuhiro Ohkura, and Zlatan Car, "Autonomous task allocation by artificial evolution for robotic swarms in complex tasks," Artificial Life and Robotics, Vol. 24, No. 1, pp. 127–134 (2019)
    DOI: 10.1007/s10015-018-0466-6
  24. Motoaki Hiraga, Yufei Wei, Toshiyuki Yasuda, and Kazuhiro Ohkura, "Evolving autonomous specialization in congested path formation task of robotic swarms," Artificial Life and Robotics, Vol. 23, No. 4, pp. 547–554 (2018)
    DOI: 10.1007/s10015-018-0483-5
  25. Motoaki Hiraga, Toshiyuki Yasuda, and Kazuhiro Ohkura, "Evolutionary acquisition of autonomous specialization in a path-formation task of a robotic swarm," Journal of Advanced Computational Intelligence and Intelligent Informatics, Vol. 22, No. 5, pp. 621–628 (2018)
    DOI: 10.20965/jaciii.2018.p0621

International Conferences

  1. Kenta Okumura, Motoaki Hiraga, Kazuhiro Ohkura, and Arata Masuda, "Improving topological diversity in mutation-based evolving artificial neural network via multi-objective optimization," Proceedings of the 9th International Symposium on Swarm Behavior and Bio-Inspired Robotics, Paper No. 13 (2025)
  2. Taiga Yanase, Yu Yoshida, Motoaki Hiraga, Nanako Miura, and Arata Masuda, "A magnetic softening resonator with flat power generation for nonlinear vibration energy harvesting," 2024 IEEE 23rd International Conference on Micro and Miniature Power Systems, Self-Powered Sensors and Energy Autonomous Devices (PowerMEMS), pp.73–76 (2024)
    DOI: 10.1109/PowerMEMS63147.2024.10814129
  3. Daichi Morimoto, Souto Takase, Motoaki Hiraga, Kazuhiro Ohkura, and Masaharu Munetomo, "Evolution and analysis of controllers for a robotic swarm: A case study on collective perception," Proceedings of the 8th International Symposium on Swarm Behavior and Bio-Inspired Robotics, pp. 145–153 (2024) Best Paper Award
    Award
  4. Motoaki Hiraga, "MBEANN approach for online distributed evolution in robotic swarms," Proceedings of the 8th International Symposium on Swarm Behavior and Bio-Inspired Robotics, pp. 56–62 (2024) Finalist of Best Paper Award
    Award
  5. Chu Wang, Nanako Miura, Motoaki Hiraga, and Arata Masuda, "Experimental study on applicability of triboelectric film sensors for integrity monitoring of shear bolted joints," Proceedings of the ASME 2024 Pressure Vessels & Piping Conference, Paper No. PVP2024-122347, V005T08A013 (2024)
    DOI: 10.1115/PVP2024-122347
  6. Yu Yoshida, Motoaki Hiraga, Nanako Miura, and Arata Masuda, "An ideal softening resonator for nonlinear vibration energy harvesting with flat power characteristics," 2023 IEEE 22nd International Conference on Micro and Nanotechnology for Power Generation and Energy Conversion Applications (PowerMEMS), pp. 106–109 (2023)
    DOI: 10.1109/PowerMEMS59329.2023.10417557
  7. Naoya Shiozaki, Yu Watanabe, Daichi Morimoto, Motoaki Hiraga, and Kazuhiro Ohkura, "Attention agent for collective behavior of a robotic swarm with deep neuroevolution," Proceedings of the Joint Symposium of the 28th International Symposium on Artificial Life and Robotics, the 8th International Symposium on BioComplexity, and the 6th International Symposium on Swarm Behavior and Bio-Inspired Robotics, pp. 1550–1555 (2023)
  8. Haruhi Tsukamoto, Daichi Morimoto, Motoaki Hiraga, Kazuhiro Ohkura, and Masaharu Munetomo, "Evolving collective behavior of a multi-legged robotic swarm in a rough terrain environment," Proceedings of the Joint Symposium of the 28th International Symposium on Artificial Life and Robotics, the 8th International Symposium on BioComplexity, and the 6th International Symposium on Swarm Behavior and Bio-Inspired Robotics, pp. 1544–1549 (2023)
  9. Motoaki Hiraga, Yoshiaki Katada, and Kazuhiro Ohkura, "Echo state networks for embodied evolution in robotic swarms," Proceedings of the Joint Symposium of the 28th International Symposium on Artificial Life and Robotics, the 8th International Symposium on BioComplexity, and the 6th International Symposium on Swarm Behavior and Bio-Inspired Robotics, pp. 865–872 (2023)
  10. Daichi Morimoto, Motoaki Hiraga, Kazuhiro Ohkura, and Masaharu Munetomo, "Generating and analyzing collective step-climbing behavior in a multi-legged robotic swarm," Proceedings of the 13th International Conference on Swarm Intelligence, pp. 324–331 (2022)
    DOI: 10.1007/978-3-031-20176-9_29
  11. Motoaki Hiraga and Kazuhiro Ohkura, "Embodied evolution in robotic swarms using echo state networks," Proceedings of SICE Annual Conference 2022, pp. 83–86 (2022)
  12. Daichi Morimoto, Motoaki Hiraga, Naoya Shiozaki, Kazuhiro Ohkura, and Masaharu Munetomo, "Evolutionary acquisition of collective behavior for a multi-legged robotic swarm," Proceedings of the Joint Symposium of the 27th International Symposium on Artificial Life and Robotics, the 7th International Symposium on BioComplexity, and the 5th International Symposium on Swarm Behavior and Bio-Inspired Robotics, pp. 1843–1848 (2022)
  13. Daichi Morimoto, Motoaki Hiraga, Kazuhiro Ohkura, and Masaharu Munetomo, "Generating collective step-climbing behavior using a multi-legged robotic swarm," Proceedings of the 4th International Symposium on Swarm Behavior and Bio-Inspired Robotics, SodOS3-3, pp. 590–601 (2021)
  14. Motoaki Hiraga and Kazuhiro Ohkura, "MBEANN approach for evolving cooperative transport by a robotic swarm," Proceedings of the 4th International Symposium on Swarm Behavior and Bio-Inspired Robotics, SodOS3-2, pp. 578–589 (2021)
  15. Motoaki Hiraga, Yasumasa Tamura, and Kazuhiro Ohkura, "Evolving echo state networks for generating collective behavior of a robotic swarm," Proceedings of the 4th International Symposium on Swarm Behavior and Bio-Inspired Robotics, SodOS3-1, pp. 568–577 (2021)
  16. Xiaotong Nie, Motoaki Hiraga, and Kazuhiro Ohkura, "Visualizing deep Q-learning to understanding behavior of swarm robotic system," Proceedings of the 23rd Asia Pacific Symposium on Intelligent and Evolutionary Systems, pp. 118–129 (2019)
    DOI: 10.1007/978-3-030-37442-6_11
  17. Motoaki Hiraga, Yasumasa Tamura, and Kazuhiro Ohkura, "Effects of robot collisions on collective behavior in evolutionary robotic swarms," Proceedings of the 3rd International Symposium on Swarm Behavior and Bio-Inspired Robotics, FrA2b-1, pp. 303–310 (2019)
  18. Motoaki Hiraga, Yufei Wei, and Kazuhiro Ohkura, "Evolving collective cognition of robotic swarms in the foraging task with poison," Proceedings of the 2019 IEEE Congress on Evolutionary Computation, pp. 3206–3213 (2019)
    DOI: 10.1109/CEC.2019.8790103
  19. Motoaki Hiraga and Kazuhiro Ohkura, "Effects of body size on autonomous specialization and congestion of robotic swarms," Proceedings of the 22nd Asia Pacific Symposium on Intelligent and Evolutionary Systems, pp. 85–92 (2018)
  20. Daichi Morimoto, Motoaki Hiraga, and Kazuhiro Ohkura, "Towards a robotic swarm using deep neuroevolution: An experimental study in path formation," Proceedings of the 22nd Asia Pacific Symposium on Intelligent and Evolutionary Systems, pp. 77–80 (2018)
  21. Motoaki Hiraga and Kazuhiro Ohkura, "Evolutionary emergence of path formation with autonomous specialization in a robotic swarm," Proceedings of the 2018 Conference on Artificial Life, pp. 526–527 (2018)
    DOI: 10.1162/isal_a_00096
  22. Kazuhiro Ohkura and Motoaki Hiraga, "Congestion: A key factor for division of labor in a robotic swarm," Proceedings of the 1st International Conference on Digital Practice for Science, Technology, Education, and Management, pp. 66–71 (2018)
  23. Motoaki Hiraga, Toshiyuki Yasuda, and Kazuhiro Ohkura, "Evolutionary acquisition of congestion management of a robotic swarm in a path formation task," Proceedings of the 2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics, pp. 141–146 (2017) Best Student Paper Award Finalist
    Award
  24. Kazuhiro Ohkura, Toshiyuki Yasuda, and Motoaki Hiraga, "Observing path formation behavior in evolutionary swarm robotic systems," Proceedings of SICE Annual Conference 2016, pp. 1220–1223 (2016)
  25. Toshiyuki Yasuda, Motoaki Hiraga, Akitoshi Adachi, and Kazuhiro Ohkura, "Consideration regarding the reduction of reality gap in evolutionary swarm robotics," Proceedings of the 10th International Conference on Swarm Intelligence, pp. 294–295 (2016)

Doctoral Thesis

  1. Motoaki Hiraga, "Automatic design of controllers for robotic swarms," Doctoral Thesis, Hiroshima University (2022)