Publications by Alcherio Martinoli

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Evaluative techniques offer a tremendous potential for online controller design. However, when the optimization space is large and the performance metric is noisy, the overall adaptation process becomes extremely time consuming. Distributing the adaptation ...

In this paper we tackle the problem of finding the source of particulate matter with a mobile robot equipped with a low-cost multi-channel optical particle counting sensor. The proposed method is based on the Infotaxis odor source localization algorithm an ...

Ultra-Wideband Impulse Radio (UWB-IR) is a technology that has great potential to solve numerous mobile robotic and asset tracking problems in GPS-denied environments. Our goal is to help software and hardware designers in improving the state-of-the-art in ...

We study distributed coverage of environments with unknown extension using a team of networked miniature robots analytically and experimentally. Algorithms are analyzed by incrementally raising the abstraction level starting from physical robots, to realis ...

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 ...

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 ...

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 ...

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 ...

Efficient Gas Source Localization (GSL) in realworld settings is crucial, especially in emergency scenarios. Mobile robots equipped with low-cost, in-situ gas sensors offer a safer alternative to human inspection in hazardous environments. Probabilistic algorithms enhance GSL efficiency with scattered gas measurements by comparing gas concentration measurements gathered by robots to physical dispersion models. However, accurately deriving gas concentrations from data acquired with low-cost sensors is challe

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 ...

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 ...

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 online in an automated fashion. In multi-robot systems, robots learning in parallel can share information to dramatically increase the evolutionary rate. However, manufacturing variations in robotic sensors may result in perceptual differences between robots, which could impact the learning pro

In this project, we intend to use inkjet-based delivery of functional liquid droplets on pre-structured surfaces for the directed (self-)assembly of micro/nano-objects as experimental platform to build up and validate multi-level models of micro-droplet deposition, spanning from simple equations of motion to realistic, computationally intensive simulations. Furthermore, we aim to exploit these simulations to achieve the computer-aided design of functional surfaces that improve the precision of final positio

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 ...

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 ...

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) ...

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 ...

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 ...

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 ...

Alcherio Martinoli

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Distributed Particle Swarm Optimization for limited-time adaptation with real robots

Particle Source Localization with a Low-Cost Robotic Sensor System: Algorithmic Design and Performance Evaluation

Modeling and Benchmarking Ultra-Wideband Localization for Mobile Robots

Collaborative coverage using a swarm of networked miniature robots

Modeling and Optimization of a Swarm-Intelligent Inspection System

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

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

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

Parallel Learning in Heterogeneous Multi-Robot Swarms

Calibration-Free Gas Source Localization with Mobile Robots: Source Term Estimation Based on Concentration Measurement Ranking

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

Towards Optimal Control of Self-Organized Robotic Inspection Systems

An Exploration of Online Parallel Learning in Heterogeneous Multi-Robot Swarms

Inkjet-Based Deposition of Micro/Nano-Objects on Functional Surfaces - Controlling and Exploiting Self-Assembly across Length-Scales

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

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

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

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

An Algorithm for Odor Source Localization based on Source Term Estimation

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