Home

Person

Alcherio Martinoli

About
Privacy
Disclaimer

Graph Chatbot

Related publications (203)

Distributed Particle Swarm Optimization - Particle Allocation and Neighborhood Topologies for the Learning of Cooperative Robotic Behaviors

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

In this article we address the automatic synthesis of controllers for the coordinated movement of multiple mobile robots, as a canonical example of cooperative robotic behavior. We use five distributed noise-resistant variations of Particle Swarm Optimizat ...

2015

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

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

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 ...

2015

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

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

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 ...

2015

Distributed Deconfliction Algorithm for Unmanned Aerial Vehicles with Limited Range and Field of View Sensors

Denis Gillet, Alcherio Martinoli, Steven Adriaan Roelofsen

This paper proposes a novel approach for collision avoidance between Unmanned Aerial Vehicles (UAVs) with limited range and field of view sensors. The algorithm is designed for unicycle vehicles that need to fly above a specific minimal speed to maintain f ...

2015

Distributed Graph-based Convoy Control for Networked Intelligent Vehicles

Alcherio Martinoli, Milos Vasic, Joseph Chadi Benoit Lemaitre, Ali Marjovi

This paper presents an approach for formation control of multi-lane vehicular convoys in highways. We extend a Laplacian graph-based, distributed control law such that networked intelligent vehicles can join or leave the formation dynamically without jeopa ...

IEEE2015

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

Alcherio Martinoli, José Nuno Ferreira Maia Pereira, Alicja Barbara Roelofsen, Rodrigo Martins de Matos Ventura

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

SwarmViz: An Open-Source Visualization Tool for Particle Swarm Optimization

Alcherio Martinoli, Inaki Navarro Oiza, Guillaume Stefan Jornod, Ezequiel Leonardo Di Mario

Particle Swarm Optimization (PSO) is a meta-heuristic for solving high dimensional optimization problems. Due to the large number of dimensions usually employed with PSO, it is not trivial to visualize and monitor the progress of the algorithm. Because of ...

2015

Flutter Suppression of a Bridge Section Model Endowed with Actively Controlled Flap Arrays

Alcherio Martinoli, Glauco Feltrin, Klara Maria Boberg

In this work, we investigate active flutter control of a bridge section model equipped with arrays of flaps. We consider three simple control algorithms based on an amplitudegain and a phase-shift for actuating the flaps and stabilizing the section model. ...

2015

A Collaborative Sensor Fusion Algorithm for Multi-Object Tracking Using a Gaussian Mixture Probability Hypothesis Density Filter

Alcherio Martinoli, Milos Vasic

This paper presents a method for collaborative tracking of multiple vehicles that extends a Gaussian Mixture Probability Hypothesis Density (GM-PHD) filter with a collaborative fusion algorithm. Measurements are preprocessed in a detect-before-track fashio ...

2015

Reciprocal Collision Avoidance For Quadrotors Using On-board Visual Detection

Denis Gillet, Alcherio Martinoli, Steven Adriaan Roelofsen

In this paper we present a collision avoidance system based on visual detection. Our hardware consists of a Hummingbird quadrotor equipped with a large red marker with two built-in fish-eye cameras. Fusion of the measurements from the two cameras is done u ...

2015

The Khepera IV Mobile Robot: Performance Evaluation, Sensory Data and Software Toolbox

Alcherio Martinoli, Inaki Navarro Oiza, Jorge Miguel Dias Almeida Rodrigues Soares

Taking distributed robotic system research from simulation to the real world often requires the use of small robots that can be deployed and managed in large numbers. This has led to the development of a multitude of these devices, deployed in the thousand ...

Springer International Publishing2015

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

Alcherio Martinoli, Adrian Arfire, Ali Marjovi

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 ...

2015

A Distributed Formation-based Odor Source Localization Algorithm – Design, Implementation, and Wind Tunnel Evaluation

Alcherio Martinoli, Jorge Miguel Dias Almeida Rodrigues Soares, António Pedro Rodrigues de Aguiar

Robotic odor source localization is a promising tool with numerous applications in safety, search and rescue, and environmental science. In this paper, we present an algorithm for odor source localization using multiple cooperating robots equipped with che ...

IEEE2015

Lily: A Miniature Floating Robotic Platform for Programmable Stochastic Self-Assembly

Alcherio Martinoli, Emmanuel Droz, Bahar Haghighat

Fluid-mediated programmable stochastic self-assembly offers promising means to formation of target structures capable of a variety of functionalities. While miniaturized building blocks allow for finer resolutions in such structures, as well as access to u ...

2015

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

Design and Implementation of a Range-Based Formation Controller for Marine Robots

Alcherio Martinoli, Jorge Miguel Dias Almeida Rodrigues Soares

There is considerable worldwide interest in the use of groups of autonomous marine vehicles to carry our challenging mission scenarios, of which marine habitat mapping of complex, non-structured environments is a representative example. Relative positionin ...

Springer International Publishing2014

Model and Control of a Flap System Mitigating Wind Impact on Structures

Alcherio Martinoli, Glauco Feltrin, Klara Maria Boberg

2014

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

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

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

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

Alcherio Martinoli, Jürgen Brugger, 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

Formalization, Implementation, and Modeling of Institutional Controllers for Distributed Robotic Systems

Alcherio Martinoli, José Nuno Ferreira Maia Pereira

The work described is part of a long term program of introducing institutional robotics, a novel framework for the coordination of robot teams that stems from institutional economics concepts. Under the framework, institutions are cumulative sets of persis ...

2014

Page 5 of 11