Publications by Alcherio Martinoli

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We show system identification of self-organizing, swarm robotic systems using a ``gray-box'' approach, based on probabilistic macroscopic models. At hand of a well studied case study concerned with the autonomous inspection of a regular structure by a swar ...

One of the main challenges in underwater robot localization is the scarcity of external positioning references. Therefore, accurate inertial localization in between external position updates is crucial for applications such as underwater environmental samp ...

The number of vehicles hitting the road each day is rapidly increasing, and several problems, such as traffic conges- tion or driver safety, can no longer be solved in the same fashion as before. Intelligent transportation systems could potentially solve p ...

Within the scope of the ongoing efforts to fight climate change, the application of multirobot systems to environmental mapping and monitoring missions is a prominent approach aimed at increasing exploration efficiency. However, the application of such sys ...

We present an on-board robotic module which can determine relative positions among miniature robots. The module uses high-frequency modulated infrared emissions to enable nearby robots to determine the range, bearing, and message of the sender with a rapid ...

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 ...

In this work we investigate the applicability of the wing-aileron-tab model for a bridge section model being actively controlled with leading and trailing edge flaps. The structural and aerodynamic model parameters have been extracted experimentally from a total of 140 wind tunnel experiments. Our in-house developed set-up has been employed for this purpose. Four different control strategies, with increasing complexity have been used for the parameter estimation. The first eight flutter derivatives have bee

We explore the problem of smallscale multirobot formation control using only an unsophisticated onboard relative positioning module. The robotic setup and module are implemented and tested in a realistic virtual simulator, using standard formation types an ...

Mobile robots have the potential to become the ideal tool to teach a broad range of engineering disciplines. Indeed, mobile robots are getting increasingly complex and accessible. They embed elements from diverse ﬁelds such as mechanics, digital electronic ...

Population-based learning techniques have been proven to be effective in dealing with noise and are thus promising tools for the optimization of robotic controllers, which have inherently noisy performance evaluations. This article discusses how the result ...

Finding sources of airborne chemicals with mobile sensing systems finds applications in safety, security, and emergency situations related to medical, domestic, and environmental domains. Given the often critical nature of all the applications, it is impor ...

Despite the strong increase in available computational power enabling an unprecedented level of realism in simulation, modeling robotic systems at higher abstraction level remains crucial to efficiently design robot controllers and analyze their properties ...

Fluid-mediated self-assembly is one of the most promising routes for assembling and packaging smart microsystems in a scalable and cost-efficient way. In this work the pairwise fluidic self-assembly of 100 μm-sized SU-8 cylinders is studied with respect to ...

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

Using graph theory, this paper investigates how a group of vehicles, endowed with local positioning capabilities (range and bearing to other vehicles), can keep a predefined formation. We propose a longitudinal and lateral controller that stabilizes a syst ...

Designing algorithms for multi-robot systems can be a complex and difficult process: the cost of such systems can be very high, collecting experimental data can be time consuming, and individual robots may malfunction, invalidating experiments. These const ...

We introduce a novel bio-inspired odor source localization algorithm (surge- cast) for environments with a main wind ﬂow and compare it to two well-known algorithms. With all three algorithms, systematic experiments with real robots are carried out in a wi ...

In this paper, we present a quantitative, trajectory-based method for calibrating stochastic motion models of water-floating robots. Our calibration method is based on the Correlated Random Walk (CRW) model, and consists in minimizing the Kolmogorov-Smirno ...

Tracking of miniature robotic platforms involves major challenges in image recognition and data association. We present our 3-year effort into developing the platform-independent, easy-to-use, and robust tracking software SwisTrack, which is tailored to re ...

Multi-robot cooperative navigation in real-world environments is essential in many applications, including surveillance and search-and-rescue missions. State-of-the-art methods for cooperative navigation are often tested in ideal laboratory conditions and ...

Alcherio Martinoli

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System Identification of Self-Organizing Robotic Swarms

Online Kinematic and Dynamic Parameter Estimation for Autonomous Surface and Underwater Vehicles

A Realistic Simulator for the Design and Evaluation of Intelligent Vehicles

3D Gas Sensing with Multiple Nano Aerial Vehicles: Interference Analysis, Algorithms and Experimental Validation

A Fast On-Board Relative Positioning Module for Multi-Robot Systems

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

Experimental Validation of the Wing-Aileron-Tab Combination Applied to an Actively Controlled Bridge Section Model

Small-Scale Robot Formation Movement Using a Simple On-Board Relative Positioning System

The e-puck, a Robot Designed for Education in Engineering

Analysis of Fitness Noise in Particle Swarm Optimization: From Robotic Learning to Benchmark Functions

A Distributed Source Term Estimation Algorithm for Multi-Robot Systems

Spatial microscopic modeling of collective movements in multi-robot systems: Design choices and calibration

Fluid-mediated parallel self-assembly of polymeric micro-capsules for liquid encapsulation and release

Towards Institutions for Mixed Human-Robot Societies

Local Graph-based Distributed Control for Safe Highway Platooning

The Cost of Reality: Effects of Real-World Factors on Multi-Robot Search

Tracking Odor Plumes in a Laminar Wind Field with Bio-Inspired Algorithms

A Trajectory-based Calibration Method for Stochastic Motion Models

SwisTrack: A Tracking Tool for Multi-Unit Robotic and Biological Systems

Graph-Based Distributed Control for Adaptive Multi-Robot Patrolling through Local Formation Transformation