Publications by Alcherio Martinoli

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In this contribution, we describe a novel approach to the problem of setting micrometric droplets in motion. First, this paper reviews the state-of-the-art methods to enable millimetric droplet motion, and investigates the scalability of the most promising ...

Our purpose is to develop self-assembly of microcompounds into pairs with encapsulation of a functional liquid and later their disassembly and the release of their content. One of the issues is to perform this at various scales.

Odor source localization with mobile robots has recently been subject to many research works, but remains a challenging task mainly due to the large number of environmental parameters that make it hard to describe gas concentration fields. We designed a ne ...

Mobile Wireless Sensor Networks (WSNs) hold the potential to constitute a real game changer for our understanding of urban air pollution, through a significant augmentation of spatial resolution in measurement. However, temporal drift, crosssensitivity and ...

This paper gives a high-level overview of our research concerning swarm-intelligent inspection systems for turbine inspection.

We present an investigation of specialization when considering the execution of collaborative tasks by a robot swarm. Specifically, we consider the stick-pulling problem first proposed by Martinoli et al. [1], [2] and develop a macroscopic analytical model for the swarm executing a set of tasks that require the collaboration of two robots. We show, for constant external conditions, maximum productivity can be achieved by a single species swarm with carefully chosen operational parameters. While the same app

Finding the source of gaseous compounds released in the air with robots finds several applications in various critical situations, such as search and rescue. While the distribution of gas in the air is inherently a 3D phenomenon, most of the previous works ...

Ultra Wide Band (UWB) is an emerging technology in the field of indoor localization, mainly due to its high performances in indoor scenarios and relatively easy deployment. However, in complex indoor environments, its positioning accuracy may drastically d ...

Large numbers of collaborating robots are advantageous for solving distributed problems. In order to efficiently solve the task at hand, the robots often need accurate localization. In this work, we address the localization problem by developing a solution ...

This paper describes a novel method to fabricate polymer MEMS based on the inkjet printing of SU-8, with a special emphasis on integrated micro-optical lens arrays. Inkjet control parameters are optimized in order to enable a stable and reproducible ejecti ...

We derive the theoretical performance of three bio-inspired odor source localization algorithms (casting, surge-spiral and surge-cast) in laminar wind flow. Based on the geometry of the trajectories and the wind direction sensor error, we calculate the dis ...

Particle Swarm Optimization (PSO) is a population-based metaheuristic that can be applied to optimize controllers for multiple robots using only local information. In order to cope with noise in the robotic performance evaluations, different re-evaluation ...

Collision avoidance, in particular between robots, is an important component for autonomous robots. It is a necessary component in numerous applications such as human-robot interaction, automotive or unmanned aerial vehicles. While many collision avoidance ...

Combining networks of static sensors with minimalist robotic swarms might enable a new generation of micromachinery equipped with sensor and actuator networks for inspection, maintenance, and repair. In such a scenario, limited capabilities of swarm member ...

The ability to move in complex environments is a fundamental requirement for robots to be a part of our daily lives. Increasing the controller complexity may be a desirable choice in order to obtain an improved performance. However, these two aspects may p ...

Alcherio Martinoli

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Towards Smart Substrates for Controlling Micrometric Droplet Motion

Fluidic-mediated self-assembly for hybrid functional micro/nanosystems (SELFSYS)

Adaptive Lévy Taxis for Odor Source Localization in Realistic Environmental Conditions

Model-based Rendezvous Calibration of Mobile Sensor Networks for Monitoring Air Quality

Synthesizing Rulesets for Programmable Robotic Self-Assembly: A Case Study using Floating Miniaturized Robots

A Challenging Application in Swarm Robotics: The Autonomous Inspection of Complex Engineered Structures

Guest editorial: Special issue on distributed robotics - from fundamentals to applications

Specialization as an Optimal Strategy Under Varying External Conditions

A 3-D Bio-inspired Odor Source Localization and its Validation in Realistic Environmental Conditions

Automatic Calibration of Ultra Wide Band Tracking Systems Using A Mobile Robot: A Person Localization Case-study

Low-Cost Collaborative Localization for Large-Scale Multi-Robot Systems

Inkjet Printing of SU-8; A Case Study for Microlenses

Distributed Formation Control of Quadrotors under Limited Sensor Field of View

Theoretical Analysis of Three Bio-Inspired Plume Tracking Algorithms

Distributed Particle Swarm Optimization using Optimal Computing Budget Allocation for Multi-Robot Learning

Collision Avoidance with Limited Field of View Sensing: A Velocity Obstacle Approach

Self-Organized Embedded Sensor/Actuator Networks for ''Smart'' Turbines

A Flexible Navigation Support System for a Team of Underwater Robots

Measuring Sensible Heat Flux with High Spatial Density

The Role of Environmental and Controller Complexity in the Distributed Optimization of Multi-Robot Obstacle Avoidance