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Alcherio Martinoli

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Related publications (203)

Page 5 of 11

A Distributed Source Term Estimation Algorithm for Multi-Robot Systems

Alcherio Martinoli, Faezeh Rahbar

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 ...

IEEE2020

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

Alcherio Martinoli, Cyrill Silvan Baumann

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 ...

2022

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

Jürgen Brugger, Alcherio Martinoli, Luis Guillermo Villanueva Torrijo, Rosario Maurizio Gullo, Victor Javier Cadarso Busto, Cristina Martin Olmos, Massimo Mastrangeli, Grégory Mermoud, Loïc Jacot-Descombes

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 ...

2013

Towards Institutions for Mixed Human-Robot Societies

Alcherio Martinoli, Alicja Barbara Roelofsen

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

ASSOC COMPUTING MACHINERY2018

Local Graph-based Distributed Control for Safe Highway Platooning

Alcherio Martinoli, Sven Adrian Gowal

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 ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2010

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

Alcherio Martinoli

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 ...

2007

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

Alcherio Martinoli, Thomas Lochmatter

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 ...

Springer2009

A Trajectory-based Calibration Method for Stochastic Motion Models

Alcherio Martinoli, Massimo Mastrangeli, Grégory Mermoud, Ezequiel Leonardo Di Mario

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 ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2011

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

Alcherio Martinoli, Nicolaus Correll, Jean-Louis Deneubourg

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 ...

2006

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

Alcherio Martinoli, José Nuno Ferreira Maia Pereira, Alicja Barbara Roelofsen

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 ...

Ieee2016

An Adaptive Field Estimation Algorithm for Sensor Networks in Dynamic Environments

Alcherio Martinoli, Amanda Stella Markowska Prorok, William Christopher Evans

The efficiency of distributed sensor networks depends on an optimal trade-off between the usage of resources and data quality. This workshop paper addresses the problem of optimizing this trade-off in self-configured distributed sensor networks. In our cas ...

2011

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

Alcherio Martinoli, Zeynab Talebpour

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

Modeling Self-Organized Aggregation in a Swarm of Miniature Robots

Alcherio Martinoli, Nicolaus Correll

We model the dynamics of self-organized robot aggregation inspired by a study on aggregation of gregarious arthropods. In swarms of German cockroaches, aggregation into clusters emerges solely from local interactions between the individuals, whereas the pr ...

2007

A Rule Synthesis Algorithm for Programmable Stochastic Self-Assembly of Robotic Modules

Alcherio Martinoli, Bahar Haghighat

Programmable self-assembly of modular robots offers promising means for structure formation at different scales. Rule-based approaches have been previously employed for distributed control of stochastic self-assembly processes. The assembly rate in the pro ...

SPRINGER INTERNATIONAL PUBLISHING AG2019

A Distributed Architecture for Onboard Tightly-Coupled Estimation and Predictive Control of Micro Aerial Vehicle Formations

Alcherio Martinoli, Izzet Kagan Erünsal

This paper presents a distributed estimation and control architecture for leader-follower formations of multi-rotor micro aerial vehicles. The architecture involves multi-rate extended Kalman filtering and nonlinear model predictive control in order to opt ...

Springer2022

On-Board Vision-Based 3D Relative Localization System for Multiple Quadrotors

Alcherio Martinoli, Duarte Da Cruz Baptista Dias

This work proposes a novel relative localization system, based on active markers and an on-board camera, for tracking multiple quadrotors in a limited field of view. The system extracts the 3D poses of the markers including one that, by pulsating at a pred ...

Ieee2016

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

Alcherio Martinoli, Bahar Haghighat, Emmanuel Droz

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

Vertex: A New Distributed Underwater Robotic Platform for Environmental Monitoring

Alcherio Martinoli, Alexander Bahr, Felix Stephan Schill

We present a new Autonomous Underwater Vehicle (AUV) system for cooperative environmental sensing. The AUV was specifically developed as a platform for distributed, cooperative sensing in lakes and coastal areas. In this paper we describe the prerequisite ...

SPRINGER INTERNATIONAL PUBLISHING AG2019

A Plume Tracking Algorithm based on Crosswind Formations

Alcherio Martinoli, Inaki Navarro Oiza, Thomas Lochmatter

2010

Multi-robot System Architectures

Alcherio Martinoli, Cyrill Silvan Baumann, Izzet Kagan Erünsal

Springer2025