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Alcherio Martinoli

Cette personne a quitté l’EPFL

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Publications associées (203)

Page 1 sur 11

Fluid-Mediated Stochastic Self-Assembly at Centimetric and Sub-Millimetric Scales: Design, Modeling, and Control

Alcherio Martinoli, Grégory Mermoud, Massimo Mastrangeli, Felix Stephan Schill, Bahar Haghighat

Stochastic self-assembly provides promising means for building micro-/nano-structures with a variety of properties and functionalities. Numerous studies have been conducted on the control and modeling of the process in engineered self-assembling systems co ...

2016

Clustering and Informative Path Planning for 3D Gas Distribution Mapping: Algorithms and Performance Evaluation

Alcherio Martinoli, Chiara Ercolani, Lixuan Tang

Chemical gas dispersion can represent a severe threat to human and animal lives, as well as to the environment. Constructing a map of the distribution of gas in a fast and reliable manner is critical to ensure accurate monitoring of at-risk facilities and ...

2022

Towards Efficient Gas Leak Detection in Built Environments: Data-Driven Plume Modeling for Gas Sensing Robots

Alcherio Martinoli, Faezeh Rahbar, Chiara Ercolani, Wanting Jin

The deployment of robots for Gas Source Lo- calization (GSL) tasks in hazardous scenarios significantly reduces the risk to humans and animals. Gas sensing using mobile robots focuses primarily on simplified scenarios, due to the complexity of gas dispersi ...

2023

Communication in a Swarm of Miniature Robots: The e-Puck as an Educational Tool for Swarm Robotics

Alcherio Martinoli

Swarm intelligence, and swarm robotics in particular, are reaching a point where leveraging the potential of communication within an artificial systempromises to uncover newand varied directions for interesting research without compromising the key propert ...

2007

Accurate Indoor Localization with Ultra-Wideband using Spatial Models and Collaboration

Alcherio Martinoli, Amanda Stella Markowska Prorok

Ultra-wideband (UWB) localization is a recent technology that performs competitively with many indoor localization methods currently available. Despite its desirable traits, such as potential high accuracy and high material penetrability, the resolution of ...

SAGE Publications2014

Robust Distributed Coverage using a Swarm of Miniature Robots

Alcherio Martinoli, Nicolaus Correll

For the multi-robot coverage problem deterministic deliberative as well as probabilistic approaches have been proposed. Whereas deterministic approaches usually provide provable completeness and promise good performance under perfect conditions, probabilis ...

2007

Comparing Coordination Schemes for Miniature Robotic Swarms: A Case Study in Boundary Coverage of Regular Structures

Alcherio Martinoli, Nicolaus Correll

We consider boundary coverage of a regular structure by a swarm of miniature robots, and compare a suite of three fully distributed coordination algorithms experimentally. All algorithms rely on boundary coverage by reactive control, whereas coordination o ...

2006

A Robust Relative Positioning System for Multi-Robot Formations Leveraging an Extended GM-PHD Filter

Alcherio Martinoli, Alicja Barbara Roelofsen

We propose a multi-robot tracking method to provide state estimates that allow a group of robots to maintain a formation even when the communication fails. We extend a Gaussian Mixture Probability Hypothesis Density filter to incorporate, firstly, absolute ...

2017

Design and Performance Evaluation of an Algorithm Based on Source Term Estimation for Odor Source Localization

Alcherio Martinoli, Ali Marjovi, Faezeh Rahbar

Finding sources of airborne chemicals with mobile sensing systems finds applications across safety, security, environmental monitoring, and medical domains. In this paper, we present an algorithm based on Source Term Estimation for odor source localization ...

2019

Environmental Field Estimation with Hybrid-Mobility Sensor Networks

Alcherio Martinoli, William Christopher Evans, Steven Adriaan Roelofsen, Duarte Da Cruz Baptista Dias

The remarkable accessibility of modern flying robots makes them an attractive platform for environmental sensing. However, low cost and ease of use are currently incompatible with large payloads, severely limiting the choice of sensor and ultimately modali ...

Ieee2016

A Noise-Resistant Mixed-Discrete Particle Swarm Optimization Algorithm for the Automatic Design of Robotic Controllers

Alcherio Martinoli, Cyrill Silvan Baumann

The automatic design of well-performing robotic controllers is still an unsolved problem due to the inherently large parameter space and noisy, often hard-to-define performance metrics, especially when sequential tasks need to be accomplished. Distal contr ...

2022

Distributed Cooperative Localization with Efficient Pairwise Range Measurements

Alcherio Martinoli, Anwar Ahmad Quraishi

We present a method based on covariance intersection for cooperative localization with pairwise range-only relative measurements. Our method was designed for underwater robots equipped with an acoustic communication and ranging system. Range measurements a ...

2021

Formalization, Implementation, and Modeling of Institutional Controllers for Distributed Robotic Systems

Alcherio Martinoli, José Nuno Ferreira Maia Pereira

The work described is part of a long term program of introducing institutional robotics, a novel framework for the coordination of robot teams that stems from institutional economics concepts. Under the framework, institutions are cumulative sets of persis ...

2014

Distributed Coverage: From Deterministic to Probabilistic Models

Alcherio Martinoli, Nicolaus Correll

For the multi-robot coverage problem determin- istic deliberative as well as probabilistic approaches have been proposed. Whereas deterministic approaches usually provide provable completeness and promise good performance under perfect conditions, probabil ...

2007

Lightweight physics-based models for the control of fluid-mediated self-assembly of robotic modules

Alcherio Martinoli, Hala Khodr, Bahar Haghighat

Self-assembling robotic systems form a subclass of distributed robotic systems that undertake the fundamental task of structure formation. These systems build desired target structures by putting their constituting robotic modules together in a distributed ...

Elsevier2019

Information-Driven Gas Distribution Mapping for Autonomous Mobile Robots

Alcherio Martinoli, Faezeh Rahbar, Chiara Ercolani

The ability to sense airborne pollutants with mobile robots provides a valuable asset for domains such as industrial safety and environmental monitoring. Oftentimes, this involves detecting how certain gases are spread out in the environment, commonly refe ...

MDPI2023

Distributed Particle Swarm Optimization for limited-time adaptation with real robots

Alcherio Martinoli, Ezequiel Leonardo Di Mario

Evaluative techniques offer a tremendous potential for online controller design. However, when the optimization space is large and the performance metric is noisy, the overall adaptation process becomes extremely time consuming. Distributing the adaptation ...

2014

Particle Source Localization with a Low-Cost Robotic Sensor System: Algorithmic Design and Performance Evaluation

Alcherio Martinoli, Ali Marjovi

In this paper we tackle the problem of finding the source of particulate matter with a mobile robot equipped with a low-cost multi-channel optical particle counting sensor. The proposed method is based on the Infotaxis odor source localization algorithm an ...

2020

Modeling and Benchmarking Ultra-Wideband Localization for Mobile Robots

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

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

Collaborative coverage using a swarm of networked miniature robots

Alcherio Martinoli, Nicolaus Correll

We study distributed coverage of environments with unknown extension using a team of networked miniature robots analytically and experimentally. Algorithms are analyzed by incrementally raising the abstraction level starting from physical robots, to realis ...

Elsevier2009