Publications by Alcherio Martinoli

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The use of groups of autonomous marine vehicles has enormous potential in numerous marine applications, perhaps the most relevant of which is the surveying and exploration of the oceans, still widely unknown and misunderstood. In many mission scenarios req ...

This work addresses multi-robot coordination in social human-populated environments based on a Hoplites-based framework for solving the multi-robot task allocation problem. Humans are considered in the proposed coordination mechanism by means of accounting ...

In a world where the complexity and performance requirements of the tasks requested from micro aerial vehicles are continuously increasing, smooth design and deployment of multi-robot systems are gaining more significance. This paper tackles such challengi ...

Collective behavior based on self-organization has been shown in group-living animals from insects to vertebrates. These findings have stimulated engineers to investigate approaches for the coordination of autonomous multirobot systems based on self-organi ...

Odor plume tracing is a challenging robotics application, made difficult by the combination of the patchy characteristics of odor distribution and the slow response of the available sensors. This work proposes a graph-based formation control algorithm to c ...

We propose three modeling methods using a mobile sensor network to generate high spatio-temporal resolution air pollution maps for urban environments. In our deployment in Lausanne (Switzerland), dedicated sensing nodes are anchored to the public buses and ...

We compare two well-known algorithms for locating odor sources in environments with a main wind flow. Their plume tracking performance is tested through systematic experiments with real robots in a wind tunnel under laminar flow condition. We present the s ...

Robotic chemical plume tracing is a growing area of research, with envisioned real-world applications including pollution tracking, search and rescue, and ecosystem identification. However, following a chemical signal in the water is not an easy task due t ...

We study distributed boundary coverage of known environments using a team of miniature robots. Distributed boundary coverage is an instance of the multi-robot task-allocation problem and has applications in inspection, cleaning, and painting among others. ...

In this article we address the automatic synthesis of controllers for the coordinated movement of multiple mobile robots, as a canonical example of cooperative robotic behavior. We use five distributed noise-resistant variations of Particle Swarm Optimizat ...

Using graph theory, this paper investigates how a group of robots, endowed with local positioning (range and bearing from other robots), can be engaged in a leader- following mission whilst keeping a predefined configuration. The possibility to locally cha ...

The efficiency of distributed sensor networks depends on an optimal trade-off between the usage of resources and data quality. The work in this paper addresses the problem of optimizing this trade-off in a self-configured distributed robotic sensor network ...

We compare three bio-inspired odor source localization algorithm (casting, surge-spiral and surge-cast) for environments with a main wind flow in simulation. The wind flow is laminar and the simulation setup similar to the setup in the wind tunnel in which ...

This paper presents an approach for formation control of multi-lane vehicular convoys in highways. We extend a Laplacian graph-based, distributed control law such that networked intelligent vehicles can join or leave the formation dynamically without jeopa ...

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 w ...

We characterize and improve an existing infrared relative localization/communication module used to find range and bearing between robots in small-scale multi-robot systems. Modifications to the algorithms of the original system are suggested which offer b ...

We present a novel coordination scheme for online multi-robot coverage with a team of resource-constrained aerial vehicles relying on the PH-tree data structure. We propose a hybrid system architecture where coverage tasks are assigned to robots in a centralized manner, and individual robots plan their paths cooperatively in a distributed fashion. In this way, robots can focus only on local path planning tasks, while a ground station ensures coordination among the team. We show the applicability of our meth

We introduce a novel case study in which a group of miniaturized robots screen an environment for undesirable cells, and destroy them. Because miniaturized robots are usually endowed with reactive controllers and minimalist sensing and actuation capabiliti ...

In this work, we consider a group of differential-wheeled robots endowed with noisy relative positioning capabilities. We develop a decentralized approach based on a receding horizon controller to generate, in real-time, trajectories that guarantee the con ...

Alcherio Martinoli

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Joint ASV/AUV Range-Based Formation Control: Theory and Experimental Results

Multi-Robot Coordination in Dynamic Environments Shared with Humans

Nonlinear Model Predictive Control for Formations of Multi-Rotor Micro Aerial Vehicles: An Experimental Approach

Social Integration of Robots into Groups of Cockroaches to Control Self-Organized Choices

A Graph-Based Formation Algorithm for Odor Plume Tracing

High Resolution Air Pollution Maps in Urban Environments Using Mobile Sensor Networks

A Comparison of Casting and Spiraling Algorithms for Odor Source Localization in Laminar Flow

An Algorithm for Formation-Based Chemical Plume Tracing Using Robotic Marine Vehicles

Distributed Boundary Coverage with a Team of Networked Miniature Robots using a Robust Market-Based Algorithm

Distributed Particle Swarm Optimization - Particle Allocation and Neighborhood Topologies for the Learning of Cooperative Robotic Behaviors

Graph based distributed control of non-holonomic vehicles endowed with local positioning information engaged in escorting missions

Towards Optimally Efficient Field Estimation with Threshold-Based Pruning in Real Robotic Sensor Networks

Simulation Experiments with Bio-Inspired Algorithms for Odor Source Localization in Laminar Wind Flow

Distributed Graph-based Convoy Control for Networked Intelligent Vehicles

Tracking an Odor Plume in a Laminar Wind Field with the Crosswind-Surge Algorithm

Relative Localization and Communication Module for Small-Scale Multi-Robot Systems

Multi-robot Online Coverage with a Team of Resource-Constrained Micro Aerial Vehicles

Aggregation-mediated Collective Perception and Action in a Group of Miniature Robots

Swarm intelligence in autonomous collective robotics : from tools to the analysis and synthesis of distributed control strategies

Real-time Optimized Rendezvous on Nonholonomic Resource-Constrained Robots