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Alcherio Martinoli

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Related publications (203)

Page 2 of 11

Modeling and Optimization of a Swarm-Intelligent Inspection System

Alcherio Martinoli, Nicolaus Correll

We present a simple, behavior-based, distributed control algorithm to inspect a regular structure with a swarm of autonomous, miniature robots, using only on-board, local sensors. To estimate intrinsic advantages and limita- tions of the proposed control s ...

Springer2006

Vision-Based Unmanned Aerial Vehicle Detection and Tracking for Sense and Avoid Systems

Krishna Raj Sapkota, Pascal Fua, Denis Gillet, Alcherio Martinoli, Vincent Lepetit, Steven Adriaan Roelofsen, Artem Rozantsev

We propose an approach for on-line detection of small Unmanned Aerial Vehicles (UAVs) and estimation of their relative positions and velocities in the 3D environment from a single moving camera in the context of sense and avoid systems. This problem is cha ...

Ieee2016

Towards Multi-Level Modeling of Self-Assembling Intelligent Micro-Systems

Jürgen Brugger, Alcherio Martinoli, Grégory Mermoud

We investigate and model the dynamics of two-dimensional stochastic self-assembly of intelligent micro-systems with minimal requirements in terms of sensing, actuation, and control. A microscopic agent-based model accounts for spatiality and serves as a ba ...

IFAAMAS2009

SwisTrack - A Flexible Open Source Tracking Software for Multi-Agent Systems

Alcherio Martinoli, Jacques Jacot, Nicolaus Correll, Thomas Lochmatter, Pierre Roduit

Vision-based tracking is used in nearly all robotic laboratories for monitoring and extracting of agent positions, orientations, and trajectories. However, there is currently no accepted standard software solution available, so many research groups resort ...

IEEE2008

Parallel Learning in Heterogeneous Multi-Robot Swarms

Alcherio Martinoli

Designing effective behavioral controllers for mobile robots can be difficult and tedious; this process can be circumvented by using unsupervised learning techniques which allow robots to evolve their own controllers in an automated fashion. In multi-robot ...

2007

Automatic synthesis of rulesets for programmable stochastic self-assembly of rotationally symmetric robotic modules

Alcherio Martinoli, Bahar Haghighat

Programmable stochastic self-assembly of modular robots provides promising means to formation of structures at different scales. One way to address the design of dedicated control rulesets for self-assembling robotic modules is to leverage formalisms based ...

2017

A Comparison of PSO and Reinforcement Learning for Multi-Robot Obstacle Avoidance

Alcherio Martinoli, Ezequiel Leonardo Di Mario, Zeynab Talebpour

The design of high-performing robotic controllers constitutes an example of expensive optimization in uncertain environments due to the often large parameter space and noisy performance metrics. There are several evaluative techniques that can be employed ...

IEEE2013

Towards Optimal Control of Self-Organized Robotic Inspection Systems

Alcherio Martinoli, Nicolaus Correll

We consider a swarm-intelligent inspection system concerned with the inspection of blades in a jet turbine. The system is based on a swarm of autonomous, miniature robots, using only on-board, local sensors. We capture the dynamics of the system at a highe ...

2006

Robust Localization for Multi-robot Formations: An Experimental Evaluation of an Extended GM-PHD Filter

Alcherio Martinoli, Alicja Barbara Roelofsen

This paper presents a thorough experimental evaluation of an extended Gaussian Mixture Probability Hypothesis Density filter which is able to provide state estimates for the maintenance of a multirobot formation, even when the communication fails and the t ...

Springer Nature2021

Design and Performance Evaluation of an Infotaxis-Based Three-Dimensional Algorithm for Odor Source Localization

Alcherio Martinoli, Ali Marjovi, Faezeh Rahbar

In this paper we tackle the problem of finding the source of a gaseous leak with a robot in a three-dimensional (3-D) physical space. The proposed method extends the operational range of the probabilistic Infotaxis algorithm [1] into 3-D and makes multiple ...

IEEE2018

Online Model Estimation of Ultra-Wideband TDOA Measurements for Mobile Robot Localization

Alcherio Martinoli, Amanda Stella Markowska Prorok

Ultra-wideband (UWB) localization is a recent technology that promises to outperform many indoor localization methods currently available. Yet, non-line-of-sight (NLOS) positioning scenarios can create large biases in the time-difference-of-arrival (TDOA) ...

Ieee2012

Lidar-Based Relative Position Estimation and Tracking for Multi-Robot Systems

Alcherio Martinoli, José Nuno Ferreira Maia Pereira, Alicja Barbara Roelofsen

Relative positioning systems play a vital role in current multi-robot systems. We present a self-contained detection and tracking approach, where a robot estimates a distance (range) and an angle (bearing) to another robot using measurements extracted from ...

Springer2015

An Algorithm for Odor Source Localization based on Source Term Estimation

Alcherio Martinoli, Ali Marjovi, Faezeh Rahbar

Finding sources of airborne chemicals with mobile sensing systems finds applications across the security, safety, domestic, medical, and environmental domains. In this paper, we present an algorithm based on source term estimation for odor source localizat ...

IEEE2019

Three-dimensional polymeric microtiles for optically-tracked fluidic self-assembly

Jürgen Brugger, Alcherio Martinoli, Massimo Mastrangeli

Self-assembly (SA) is a bio-inspired key coordination mechanism for swarms of intelligent agents as well as a pervasive bottom-up methodology for the fabrication of heterogeneous micro- and nanosystems. Analytical studies of SA at small scales are therefor ...

2014

Real-Time Automated Modeling and Control of Self-Assembling Systems

Alcherio Martinoli, Massimo Mastrangeli, Grégory Mermoud, Utkarsh Upadhyay

We present the M3 framework, a formal and generic computational framework for modeling and controlling distributed stochastic systems of purely reactive robots in an automated and real-time fashion. Based on the trajectories of the robots, the framework bu ...

Ieee2012

Distributed vs. Centralized Particle Swarm Optimization for Learning Flocking Behaviors

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

In this paper we address the automatic synthesis of controllers for the coordinated movement of multiple mobile robots. We use a noise-resistant version of Particle Swarm Optimization to learn in simulation a set of 50 weights of a plastic artificial neura ...

The MIT Press2015

Automated Real-Time Control of Fluidic Self-Assembly of Microparticles

Jürgen Brugger, Alcherio Martinoli, Massimo Mastrangeli, Felix Stephan Schill

Self-assembly is a key coordination mechanism for large multi-unit systems and a powerful bottom-up technology for micro/nanofabrication. Controlled self-assembly and dynamic reconfiguration of large ensembles of microscopic particles can effectively bridg ...

2014

An Overtaking Decision Algorithm for Networked Intelligent Vehicles Based on Cooperative Perception

Alcherio Martinoli, Inaki Navarro Oiza, Gael Lederrey, Milos Vasic

This paper presents an overtaking decision algorithm for networked intelligent vehicles. The algorithm is based on a cooperative tracking and sensor fusion algorithm that we previously developed. The ego vehicle is equipped with lane keeping and lane chang ...

Ieee2016

Evaluating Efficient Data Collection Algorithms for Environmental Sensor Networks

Alcherio Martinoli, Alexander Bahr, William Christopher Evans

Although there exists a large body of work on efficient data collection in sensor networks, the vast majority of proposed techniques have not been implemented on real networks or thoroughly studied on real data. As algorithm performance is highly dependent ...

Springer-Verlag Berlin2013

Towards Norm Realization in Institutions Mediating Human-Robot Societies

Alcherio Martinoli, Alicja Barbara Roelofsen

Social norms are the understandings that govern the behavior of members of a society. As such, they regulate communication, cooperation and other social interactions. Robots capable of reasoning about social norms are more likely to be recognized as an ext ...

2018