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About

Yoshio Ebihara is a leading figure in the theory and application of interconnected positive systems, with a particular focus on multi-agent coordination and formation control. His research bridges rigorous systems theory with practical robotics, demonstrating how the structural properties of positive systems—where states remain nonnegative—can be exploited to design stable, scalable, and decentralized control laws. In his highly cited 2017 work, Ebihara introduced a framework for formation control of mobile robots based on interconnected positive systems, showing that formation stability can be guaranteed through the analysis of interconnection matrices and subsystem positivity. His subsequent 2017 paper on persistence analysis further deepened this connection, providing formal conditions for maintaining formation shape over time. In 2018, he advanced the field with a comprehensive treatment of analysis and synthesis for discrete-time interconnected positive systems, offering sufficient conditions for stability and performance in SISO subsystems. Though his citation counts are modest, Ebihara’s work is foundational in the niche but growing area of positive systems in robotics, and his contributions are increasingly recognized for their elegance and practical relevance in multi-robot coordination.