Publications by Alcherio Martinoli

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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 ...

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 ...

Accurate localization is one of the biggest challenges in underwater robotics. The primary reasons behind that are unavailability of satellite-based positioning below the surface, and lack of clear features in natural water bodies for visually aided locali ...

In the context of asset inspection, the size of the environment to be covered can be large. Mobile robotic systems are capable of acquiring more extensive data than static sensors, but the capacity of the robotic platform used can be limited by its autonomy and sensing capabilities. This is why multirobot systems are interesting in such applications. However, scaling up to larger robot team sizes requires coordination among robots to be carried out efficiently. In this work, we investigate a hybrid coordina

Chemical gas dispersion poses considerable threat to humans, animals and the environment. The research areas of gas source localization and gas distribution mapping aim to localize the source of gas leaks and map the gas plume respectively, in order to hel ...

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 ...

We introduce a plume tracking algorithm based on robot formations. The algorithm is inherently designed for multi-robot systems, and requires at least two robots to collaborate. The robots try to keep themselves centered around the plume while moving upwin ...

The large number of potential applications for robotic odor source localization has motivated the development of a variety of plume tracking algorithms, the majority of which work in restricted two-dimensional scenarios. In this paper, we introduce a distr ...

This paper outlines a vision for community-driven sensing of our environment. At its core, community sensing is a dynamic new form of mobile geosensor network. We believe that community sensing networks, in order to be widely deployable and sustainable, ne ...

Because of their excellent olfactory sense, dogs are often used to find bombs, mines, drugs, or people buried by avalanches. For such applications, autonomous mobile robots could be used in the future. Electronic sensors already exist for a wide variety of substances, and are still being actively researched. Mobile robots are an important area of research, too. But beyond a good sensor and a suitable robotic platform, a third component is required: odor source localization algorithms – and due to the comple

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 ...

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 ...

In this paper we compare the costs and benefits of market-based and thresholdbased approaches to task allocation in real world conditions, where information and communication may be limited or inaccurate. We have performed extensive comparative experiments ...

This paper investigates the problem of controlling a heterogeneous group of vehicles with the aim of forming multi-lane convoys. We use a distributed, graph-based control law, implemented in a longitudinal coordinate system parallel to the road. Each vehic ...

Formation building and keeping among vehicles has been studied for many years, since 1987 with Reynold's rules. This paper presents a control algorithm, based on recent work in graph theory, able to reconfigure static formations of non-holonomic vehicles e ...

This paper presents a strategy for providing reliable state estimates that allow a group of robots to realize a formation even when communication fails and the tracking data alone is insufficient for maintaining a stable formation. Furthermore, the trackin ...

Several self-assembly systems have been developed in recent years, where depending on the capabilities of the building blocks and the controlability of the environment, the assembly process is guided typically through either a fully centralized or a fully ...

In this paper, a formal engineering design synthesis methodology based on evolutionary computation is presented, with special emphasis on the design and optimization of distributed independent systems. A case study concerned with design of a sensory system ...

Evaluative techniques offer a tremendous potential for on-line controller design. However, when the optimization space is large and the performance metric is noisy, the time needed to properly evaluate candidate solutions becomes prohibitively large and, a ...

Since the 1960s, consensus problems have puzzled the minds of many researchers in ﬁelds ranging from computer science to information aggregation. In this work, although speciﬁcally addressing the rendezvous problem for a team of robots, we develop a method ...

Alcherio Martinoli

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

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

Coordinated Path Planning for Surface Acoustic Beacons for Supporting Underwater Localization

Benchmarking and Experimental Validation of a Real-Time Multi-Robot Hybrid Coverage Algorithm for Known Environments

GaSLAM: An Algorithm for Simultaneous Gas Source Localization and Gas Distribution Mapping in 3D

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

A Plume Tracking Algorithm Based on Crosswind Formations

Towards 3-D Distributed Odor Source Localization: An Extended Graph-Based Formation Control Algorithm for Plume Tracking

OpenSense: open community driven sensing of environment

Odor Source Localization with Mobile Robots

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

Reciprocal Collision Avoidance For Quadrotors Using On-board Visual Detection

A Comparative Study of Market-Based and Threshold-Based Task Allocation

Distributed Graph-Based Control of Convoys of Heterogeneous Vehicles using Curvilinear Road Coordinates

Graph-Based Distributed Control for Non-holonomic Vehicles Engaged in a Reconfiguration Task using Local Positioning Information

A robust localization system for multi-robot formations based on an extension of a Gaussian mixture probability hypothesis density filter

Characterization and Validation of a Novel Robotic System for Fluid-Mediated Programmable Stochastic Self-Assembly

Evolutionary engineering design synthesis of on-board traffic monitoring sensors

Distributed Particle Swarm Optimization for Limited Time Adaptation in Autonomous Robots

Real-time Optimization of Trajectories that Guarantee the Rendezvous of Mobile Robots