Publications by Alcherio Martinoli

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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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

We report on real-robot odor source localization experiments carried out in an environment with obstacles in the odor plume. The robot was equipped with an ethanol sensor and a wind direction sensor, and the experiments were carried out in a wind tunnel, i.e. in a controlled environment. An enhanced version of the surge-spiral algorithm was used, which was augmented with a dedicate behavior to manage obstacles (avoid them, or follow their contour). We compare the results in terms of distance overhead and su

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 ...

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 ...

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 ...

In this article, the RObject concept is first introduced. This is followed by a survey of applicable energy scavenging technologies. Energy is a key issue for the large scale deployment of robotics in daily life, as recharging the batteries places a consid ...

In this paper, an automatic synthesis methodology based on evolutionary computation is applied to evolve neural controllers for a homogeneous team of miniature autonomous mobile robots. Both feed-forward and recurrent neural networks can be evolved with fi ...

We present a modified version of the Particle swarm Optimization algorithm in which we adjust the virtual swarm search by incorporating inter-agent dynamics native to multi-robot search scenarios. The neighborhood structure of PSO is modified to accurately ...

We propose a combined spatial and non-spatial probabilistic modeling methodology motivated by an inspection task performed by a group of miniature robots. Our models explicitly consider spatiality and yield accurate predictions on system performance. An ag ...

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 ...

We explore using particle swarm optimization on problems with noisy performance evaluation, focusing on unsupervised robotic learning. We adapt a technique of overcoming noise used in genetic algorithms for use with particle swarm optimization, and evaluat ...

Inspection of aircraft and power generation machinery using a swarm of miniature robots is a promising application both from an intellectual and a commercial perspective. Our research is motivated by a case study concerned with the inspection of a jet turb ...

More specifically, a behavior-based controller for a multi-robot exploration scenario is automatically synthesized using a predefined set of basic behaviors and conditions. A key feature of the used synthesis approach is the tailored use of two modeling le ...

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 ...

In recent years, a growing number of research groups have targeted the development and deployment of networks using low-cost chemical sensors for monitoring air quality. Due to economical reasoning, most of these systems make use of some sort of mobility t ...

Alcherio Martinoli

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An Adaptive Field Estimation Algorithm for Sensor Networks in Dynamic Environments

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

Modeling Self-Organized Aggregation in a Swarm of Miniature Robots

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

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

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

Localizing an Odor Source and Avoiding Obstacles: Experiments in a Wind Tunnel using Real Robots

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

Vertex: A New Distributed Underwater Robotic Platform for Environmental Monitoring

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

Towards Autonomous Energy-Wise RObjects

Evolving Neural Controllers for Collective Robotic Inspection

Applying Aspects of Multi-Robot Search to Particle Swarm Optimization

Multi-level Spatial Modeling for Stochastic Distributed Robotic Systems

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

Particle swarm optimization for unsupervised robotic learning

Towards Multi-Robot Inspection of Industrial Machinery - From Distributed Coverage Algorithms to Experiments with Miniature Robotic Swarms

Automatic Multi-Robot Control Design and Optimization Leveraging Multi-Level Modeling: An Exploration Case Study

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

Enhancing Measurement Quality through Active Sampling in Mobile Air Quality Monitoring Sensor Networks