Publications by Alcherio Martinoli

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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 ...

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 ...

Institutional robotics (IR) is an approach to the coordination of multi-robot systems that draws inspiration from social sciences, namely from institutional economics. Using the concept of institution, it aims to provide a comprehensive strategy for specifying social interactions (e.g., norms, roles, hierarchies) among robots. In previous work, we have introduced a control methodology for multi-robot systems that takes into account institutions in order to create an Institutional Agent Controller (IAC) that

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 ...

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 ...

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 ...

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 ...

The design, development, and deployment of Ultra-Wideband (UWB) localization systems involves digital and Radio-Frequency (RF) hardware, embedded software, localization algorithms, security and reliability aspects, electromagnetics, and others. Design and ...

In this paper, we propose a risk-based coordination method for the Multi-Robot Task Allocation (MRTA) problem in human-populated environments. We introduce risk-based bids that incorporate human trajectory prediction uncertainties and furthermore, social c ...

This work focuses on multi-robot coordination based on the Hoplites framework for solving the multi-robot task allocation (MRTA) problem. Three variations of increasing complexity for the MRTA problem, spatial task allocation based on distance, spatial tas ...

A wealth of current research in microengineering aims at fabricating devices of increasing complexity, notably by (self-)assembling elementary components into heterogeneous functional systems. At the same time, a large body of robotic research called swarm ...

In this paper we study the automatic synthesis of robotic controllers for the coordinated movement of multiple mobile robots. The algorithm used to learn the controllers is a noise-resistant version of Particle Swarm Optimization, which is applied in two d ...

Environmental processes are often severely over-sampled. As sensor networks become more ubiquitous for this purpose, increasing network longevity becomes ever more important. Radio transceivers in particular are a great source of energy consumption, and ma ...

Targeting the problem of generating high-resolution air quality maps for cities, we leverage four different sources of data: (i) in-situ air quality measurements produced by our mobile sensor network deployed on public transportation vehicles, (ii) explana ...

Population-based learning techniques have been proven to be effective in dealing with noise in numerical benchmark functions and are thus promising tools for the high-dimensional optimization of controllers for multiple robots with limited sensing capabili ...

Recent substantial progress in the domain of indoor positioning systems and a growing number of indoor location-based applications are creating the need for systematic, efficient, and precise experimental methods able to assess the localization and perhaps ...

AutoNet2030 – Co-operative Systems in Support of Networked Automated Driving by 2030 – is a European project connecting two domains of intensive research: cooperative systems for Intelligent Transportation Systems and Automated Driving. Given the latest de ...

This paper addresses qualitative and quantitative diversity and specialization issues in the framework of selforganizing, distributed, artificial systems. Both diversity and specialization are obtained via distributed learning from initially homogeneous swarms. While measuring diversity essentially quantifies differences among the individuals, assessing the degree of specialization implies correlation between the swarm’s heterogeneity with its overall performance. Starting from the stick-pulling experiment

This work focuses on understanding and identifying the drag forces applied to a rotary-wing Micro Aerial Vehicle (MAV). We propose a lumped drag model that concisely describes the aerodynamical forces the MAV is subject to, with a minimal set of parameters ...

In recent years, the advent of robust tracking systems has enabled behavioral analysis of individuals based on their trajectories. An analysis method based on a Point Distribution Model (PDM) is presented here. It is an unsupervised modeling of the traject ...

Alcherio Martinoli

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

Distributed vs. Centralized Particle Swarm Optimization for Learning Flocking Behaviors

Social-Aware Coordination of Multi-robot Systems Based on Institutions

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

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

Evaluating Efficient Data Collection Algorithms for Environmental Sensor Networks

Towards Norm Realization in Institutions Mediating Human-Robot Societies

Toward the Deployment of an Ultra-Wideband Localization Test Bed

Risk-Based Human-Aware Multi-Robot Coordination in Dynamic Environments Shared with Humans

Market-based Coordination in Dynamic Environments Based on Hoplites Framework

Modeling Self-Assembly Across Scales: The Unifying Perspective of Smart Minimal Particles

Distributed Learning of Cooperative Robotic Behaviors using Particle Swarm Optimization

Distributed spatiotemporal suppression for environmental data collection in real-world sensor networks

Extending Urban Air Quality Maps Beyond the Coverage of a Mobile Sensor Network: Data Sources, Methods, and Performance Evaluation

A Distributed Noise-Resistant Particle Swarm Optimization Algorithm for High-Dimensional Multi-Robot Learning

Indoor Navigation Research with the Khepera III Mobile Robot: An Experimental Baseline with a Case-study on Ultra-wideband Positioning

Network of automated vehicles: The AutoNet2030 vision

Learning and Measuring Specialization in Collaborative Swarm Systems

Lumped Drag Model Identification and Real-Time External Force Detection for Rotary-Wing Micro Aerial Vehicles

Behavioral Analysis of Mobile Robot Trajectories Using a Point Distribution Model