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Publications associées (30)

Data-Driven Convergence Prediction of Astrobots Swarms

Denis Gillet, Jean-Paul Richard Kneib, Matin Macktoobian

Astrobots are robotic artifacts whose swarms are used in astrophysical studies to generate the map of the observable universe. These swarms have to be coordinated with respect to various desired observations. Such coordination\footnote{\z{A coordination sa ...

2022

Distributed Predictive Drone Swarms in Cluttered Environments

Dario Floreano, Fabrizio Schiano, Enrica Soria

Recent works in aerial robotics show that the self-organized and cohesive flight of swarms can emerge from the exchange of purely local information between neighboring agents. However, most of the current swarm models are not capable of flight in densely c ...

2022

Predictive control of aerial swarms in cluttered environments

Dario Floreano, Fabrizio Schiano, Enrica Soria

Classical models of aerial swarms often describe global coordinated motion as the combination of local interactions that happen at the individual level. Mathematically, these interactions are represented with potential fields. Despite their explanatory suc ...

2021

Systematic Method for the Energy-Saving Potential Calculation of Air Conditioning Systems via Data Mining. Part II: A Detailed Case Study

Shen Yang, Xianlin Wang

Increased data monitoring enables the energy-efficient operation of air-conditioning systems via data-mining. The latter is projected to have lesser consumption but more comprehensive diagnosis than traditional methods. Following the companion paper that p ...

2021

Quasi-Global Momentum: Accelerating Decentralized Deep Learning on Heterogeneous Data

Martin Jaggi, Sebastian Urban Stich, Tao Lin, Sai Praneeth Reddy Karimireddy

Decentralized training of deep learning models is a key element for enabling data privacy and on-device learning over networks. In realistic learning scenarios, the presence of heterogeneity across different clients' local datasets poses an optimization ch ...

JMLR-JOURNAL MACHINE LEARNING RESEARCH2021

Pareto-like sequential sampling heuristic for global optimisation

Katrin Beyer, Mahmoud S. M. Shaqfa

In this paper, we propose a simple global optimisation algorithm inspired by Pareto’s principle. This algorithm samples most of its solutions within prominent search domains and is equipped with a self-adaptive mechanism to control the dynamic tightening o ...

2021

Large Steps in Inverse Rendering of Geometry

Wenzel Alban Jakob, Baptiste Alexandre Marie Philippe Claude Nicolet

Inverse reconstruction from images is a central problem in many scientific and engineering disciplines. Recent progress on differentiable rendering has led to methods that can efficiently differentiate the full process of image formation with respect to mi ...

ASSOC COMPUTING MACHINERY2021

Vision-based Drone Flocking in Outdoor Environments

Dario Floreano, Fabrizio Schiano, Fabian Maximilian Schilling

Decentralized deployment of drone swarms usually relies on inter-agent communication or visual markers that are mounted on the vehicles to simplify their mutual detection. This letter proposes a vision-based detection and tracking algorithm that enables gr ...

2021

Learning convergence prediction of astrobots in multi-object spectrographs

Denis Gillet, Jean-Paul Richard Kneib, Matin Macktoobian

Astrobot swarms are used to capture astronomical signals to generate the map of the observable universe for the purpose of dark energy studies. The convergence of each swarm in the course of its coordination has to surpass a particular threshold to yield a ...

2021

Robust Localization for Multi-robot Formations: An Experimental Evaluation of an Extended GM-PHD Filter

Alcherio Martinoli, Alicja Barbara Roelofsen

This paper presents a thorough experimental evaluation of an extended Gaussian Mixture Probability Hypothesis Density filter which is able to provide state estimates for the maintenance of a multirobot formation, even when the communication fails and the t ...

Springer Nature2021