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Alcherio Martinoli

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Related publications (203)

Accurate Localization with Ultra-Wideband: Tessellated Spatial Models and Collaboration

Alcherio Martinoli, Amanda Stella Markowska Prorok

2013

A new collision warning system for lead vehicles in rear-end collisions

Alcherio Martinoli, Sven Adrian Gowal, Adrian Cabrera

Collision Warning Systems (CWS) are safety sys- tems designed to warn the driver about an imminent collision. A CWS monitors the dynamic state of the traffic in real- time by processing information from various proprioceptive and exteroceptive sensors. It ...

Ieee2012

Real-Time Automated Modeling and Control of Self-Assembling Systems

Alcherio Martinoli, Grégory Mermoud, Utkarsh Upadhyay, Massimo Mastrangeli

We present the M3 framework, a formal and generic computational framework for modeling and controlling distributed stochastic systems of purely reactive robots in an automated and real-time fashion. Based on the trajectories of the robots, the framework bu ...

Ieee2012

Measuring Sensible Heat Flux with High Spatial Density

Alcherio Martinoli, Marc Parlange, Wolf Hendrik Huwald, Chad Higgins, William Christopher Evans, Alexander Bahr

2012

Modeling and Benchmarking Ultra-Wideband Localization for Mobile Robots

Alcherio Martinoli, Catherine Dehollain, Edmund James Colli-Vignarelli, Alexander Bahr

Ultra-Wideband Impulse Radio (UWB-IR) is a technology that has great potential to solve numerous mobile robotic and asset tracking problems in GPS-denied environments. Our goal is to help software and hardware designers in improving the state-of-the-art in ...

2012

Online Model Estimation of Ultra-Wideband TDOA Measurements for Mobile Robot Localization

Alcherio Martinoli, Amanda Stella Markowska Prorok

Ultra-wideband (UWB) localization is a recent technology that promises to outperform many indoor localization methods currently available. Yet, non-line-of-sight (NLOS) positioning scenarios can create large biases in the time-difference-of-arrival (TDOA) ...

Ieee2012

Low-Cost Collaborative Localization for Large-Scale Multi-Robot Systems

Alcherio Martinoli, Amanda Stella Markowska Prorok, Alexander Bahr

Large numbers of collaborating robots are advantageous for solving distributed problems. In order to efficiently solve the task at hand, the robots often need accurate localization. In this work, we address the localization problem by developing a solution ...

Ieee2012

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

Alcherio Martinoli, Sven Adrian Gowal

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 ...

2012

Containers assembled in fluid and corresponding production

Alcherio Martinoli, Jürgen Brugger, Grégory Mermoud, Cristina Martin Olmos

A method for fabricating a fluid container, wherein at least two half containers are mated in said fluid to be contained in said container. This method allows the incorporation of prefabricated devices into each half containers as well as the functional co ...

2011

Towards Autonomous Energy-Wise RObjects

Francesco Mondada, Alcherio Martinoli, Michael Bonani, Florian Christopher Vaussard, Philippe Rétornaz

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 ...

Springer Berlin Heidelberg2011

Formalizing Institutions as Executable Petri Nets for Distributed Robotic Systems

Alcherio Martinoli, José Nuno Ferreira Maia Pereira

2011

A Trajectory-based Calibration Method for Stochastic Motion Models

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

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

A Framework for NLOS Ultra-Wideband Ranging in Collaborative Mobile Robot Systems

Alcherio Martinoli, Amanda Stella Markowska Prorok, Phillip Tomé

Ultra-wideband (UWB) localization is one of the most promising indoor localization methods. Yet, non-line-of- sight (NLOS) positioning scenarios remain a challenge and can potentially cause significant localization errors. In this work, we leverage the col ...

2011

Modeling Self-Assembly Across Scales: The Unifying Perspective of Smart Minimal Particles

Alcherio Martinoli, Grégory Mermoud, Massimo Mastrangeli

A wealth of current research in microengineering aims at fabricating devices of increasing complexity, notably by (self-)assembling elementary components into heterogeneous functional systems. At the same time, a large body of robotic research called swarm ...

2011

Bayesian Rendezvous for Distributed Robotic Systems

Alcherio Martinoli, Sven Adrian Gowal

In this paper, we state, using thorough mathe- matical analysis, sufficient conditions to perform a rendezvous maneuver with a group of differential-wheeled robots endowed with an on-board, noisy, local positioning system. In particular, we extend the exis ...

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

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

A Reciprocal Sampling Algorithm for Lightweight Distributed Multi-Robot Localization

Alcherio Martinoli, Amanda Stella Markowska Prorok

This work is situated in the context of collaboratively solving the localization problem for unknown initial conditions. We address this problem with a novel, fully decentralized, real-time particle filter algorithm, designed to accommodate realistic robot ...

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

Toward the Deployment of an Ultra-Wideband Localization Test Bed

Alcherio Martinoli, Catherine Dehollain, Edmund James Colli-Vignarelli, Alexander Bahr

The design, development, and deployment of Ultra-Wideband (UWB) localization systems involves digital and Radio-Frequency (RF) hardware, embedded software, localization algorithms, security and reliability aspects, electromagnetics, and others. Design and ...

2011

Modeling and Designing Self-Organized Aggregation in a Swarm of Miniature Robots

Alcherio Martinoli, Nicolaus Correll

2011

Multi-level Spatial Modeling for Stochastic Distributed Robotic Systems

Alcherio Martinoli, Amanda Stella Markowska Prorok, Nicolaus Correll

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 ...

2011

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