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Alcherio Martinoli

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Related publications (203)

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

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 ...

2018

Autonomous Feature Tracing and Adaptive Sampling in Real-World Underwater Environments

Alcherio Martinoli, Alexander Bahr, Felix Stephan Schill, Anwar Ahmad Quraishi

Applications of robots for gathering data in underwater environments has been limited due to the challenges posed by the medium. We have developed a miniature, agile, easy to carry and deploy Autonomous Underwater Vehicle (AUV) equipped with a suite of sen ...

IEEE2018

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

Alcherio Martinoli, Ali Marjovi, Faezeh Rahbar, Julian Ruddick

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

Towards Norm Realization in Institutions Mediating Human-Robot Societies

Alcherio Martinoli, Stevan Tomic, 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

Towards Institutions for Mixed Human-Robot Societies

Alcherio Martinoli, Stevan Tomic, Alicja Barbara Roelofsen

We report an exploration into normative reasoning for robots in human societies using the concept of institutions. ...

ASSOC COMPUTING MACHINERY2018

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

Alcherio Martinoli, Pierre Charles Marie Kibleur, Ali Marjovi, Faezeh Rahbar

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 ...

2017

Simulation of Cooperative Automated Driving by Bidirectional Coupling of Vehicle and Network Simulators

Alcherio Martinoli, Inaki Navarro Oiza, Guillaume Stefan Jornod, David Mansolino

The convergence of sensor-based vehicle automation and Inter-Vehicle Communication (IVC) will be a key to achieve the full automation of vehicles. In this paper we present a new method for the design and performance evaluation of Cooperative Automated Driv ...

2017

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

Alcherio Martinoli, Zeynab Talebpour, Alessio Canepa

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 ...

Ieee2017

Probabilistic Modeling of Programmable Stochastic Self-Assembly of Robotic Modules

Alcherio Martinoli, Bahar Haghighat, Robin Thandiackal, Maximilian Oliver Mogli Mordig

2017

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

Denis Gillet, Alcherio Martinoli, Steven Adriaan Roelofsen

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 ...

2017

Market-based Coordination in Dynamic Environments Based on Hoplites Framework

Alcherio Martinoli, Zeynab Talebpour, Stefano Savarè

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 ...

2017

A Robust Relative Positioning System for Multi-Robot Formations Leveraging an Extended GM-PHD Filter

Alcherio Martinoli, Alicja Barbara Roelofsen

We propose a multi-robot tracking method to provide state estimates that allow a group of robots to maintain a formation even when the communication fails. We extend a Gaussian Mixture Probability Hypothesis Density filter to incorporate, firstly, absolute ...

2017

Optimal Path Planning and Coverage Control for Multi-Robot Persistent Coverage in Environments with Obstacles

Alcherio Martinoli, Zeynab Talebpour, José Manuel Palacios Gasos

Persistent coverage aims to maintain a certain coverage level over time in an environment where such level deteriorates. This level can be associated to temperature, dust or sensor information. We propose an algorithmic solution in which each robot locally ...

2017

Adaptive Lévy Taxis for Odor Source Localization in Realistic Environmental Conditions

Alcherio Martinoli, Romain Jean-Paul Emery, Ali Marjovi, Faezeh Rahbar

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 ...

2017

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

Alcherio Martinoli, Adrian Arfire, Ali Marjovi

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 ...

2017

On Combining Multi-robot Coverage and Reciprocal Collision Avoidance

Alcherio Martinoli, Andreas Breitenmoser

Although robotic coverage and collision avoidance are active areas of robotics research, the avoidance of collision situations between robots has often been neglected in the context of multi-robot coverage tasks. In fact, for robots of physical size, colli ...

Springer Japan2016

Mitigating Slow Dynamics of Low-Cost Chemical Sensors for Mobile Air Quality Monitoring Sensor Networks

Alcherio Martinoli, Adrian Arfire, Ali Marjovi

The last decade has seen a growing interest in air quality monitoring using networks of wireless low-cost sensor platforms. One of the unifying characteristics of chemical sensors typically used in real-world deployments is their slow response time. While ...

2016

Distributed Learning of Cooperative Robotic Behaviors using Particle Swarm Optimization

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

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 ...

2016

Incorporating Perception Uncertainty in Human-Aware Navigation: A Comparative Study

Alcherio Martinoli, Zeynab Talebpour, Rodrigo Martins de Matos Ventura

In this work, we present a novel approach to human-aware navigation by probabilistically modelling the uncertainty of perception for a social robotic system and investigating its effect on the overall social navigation performance. The model of the social ...

Ieee2016

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