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Alcherio Martinoli

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Publications associées (203)

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

Francesco Mondada, Alcherio Martinoli, Roland Siegwart, Gilles Caprari, Fabien Tâche, Jean-Louis Deneubourg, Masoud Asadpour, Nicolaus Correll

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 ...

American Association for the Advancement of Science2007

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

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

Alcherio Martinoli, James Pugh

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 ...

2006

Evolving Neural Controllers for Collective Robotic Inspection

Alcherio Martinoli

In this paper, an automatic synthesis methodology based on evolutionary computation is applied to evolve neural controllers for a homogeneous team of miniature autonomous mobile robots. Both feed-forward and recurrent neural networks can be evolved with fi ...

2006

Collective Inspection of Regular Structures using a Swarm of Miniature Robots

Alcherio Martinoli, Nicolaus Correll

We present a series of experiments concerned with the inspection of regular, engineered structures carried out using swarms of five to twenty autonomous, miniature robots, solely endowed with onboard, local sensors. Individual robot controllers are behavio ...

2006

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

Alcherio Martinoli, Samuel Rutishauser, 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

System Identification of Self-Organizing Robotic Swarms

Alcherio Martinoli, Nicolaus Correll

We show system identification of self-organizing, swarm robotic systems using a ``gray-box'' approach, based on probabilistic macroscopic models. At hand of a well studied case study concerned with the autonomous inspection of a regular structure by a swar ...

Springer Verlag2006

Small-Scale Robot Formation Movement Using a Simple On-Board Relative Positioning System

Alcherio Martinoli, James Pugh

We explore the problem of smallscale multirobot formation control using only an unsophisticated onboard relative positioning module. The robotic setup and module are implemented and tested in a realistic virtual simulator, using standard formation types an ...

2006

Modeling and Optimization of a Swarm-Intelligent Inspection System

Alcherio Martinoli, Nicolaus Correll

We present a simple, behavior-based, distributed control algorithm to inspect a regular structure with a swarm of autonomous, miniature robots, using only on-board, local sensors. To estimate intrinsic advantages and limita- tions of the proposed control s ...

Springer2006

SwisTrack: A Tracking Tool for Multi-Unit Robotic and Biological Systems

Alcherio Martinoli, Jean-Louis Deneubourg, Nicolaus Correll

Tracking of miniature robotic platforms involves major challenges in image recognition and data association. We present our 3-year effort into developing the platform-independent, easy-to-use, and robust tracking software SwisTrack, which is tailored to re ...

2006

Towards Optimal Control of Self-Organized Robotic Inspection Systems

Alcherio Martinoli, Nicolaus Correll

We consider a swarm-intelligent inspection system concerned with the inspection of blades in a jet turbine. The system is based on a swarm of autonomous, miniature robots, using only on-board, local sensors. We capture the dynamics of the system at a highe ...

2006

Discrete Multi-Valued Particle Swarm Optimization

Alcherio Martinoli, James Pugh

Discrete optimization is a difficult task common to many different areas in modern research. This type of optimization refers to problems where solution elements can assume one of several discrete values. The most basic form of discrete optimization is bin ...

2006

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

Alcherio Martinoli

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 ...

2006

Applying Aspects of Multi-Robot Search to Particle Swarm Optimization

Alcherio Martinoli, Loïc Segapelli, James Pugh

We present a modified version of the Particle swarm Optimization algorithm in which we adjust the virtual swarm search by incorporating inter-agent dynamics native to multi-robot search scenarios. The neighborhood structure of PSO is modified to accurately ...

2006

Behavioral Analysis of Mobile Robot Trajectories Using a Point Distribution Model

Jacques Jacot, Alcherio Martinoli, Pierre Roduit

In recent years, the advent of robust tracking systems has enabled behavioral analysis of individuals based on their trajectories. An analysis method based on a Point Distribution Model (PDM) is presented here. It is an unsupervised modeling of the traject ...

2006

Self-Organized Embedded Sensor/Actuator Networks for ''Smart'' Turbines

Alcherio Martinoli, Xavier Raemy, Nicolaus Correll, Christopher Cianci

Combining networks of static sensors with minimalist robotic swarms might enable a new generation of micromachinery equipped with sensor and actuator networks for inspection, maintenance, and repair. In such a scenario, limited capabilities of swarm member ...

2006

Multi-Robot Learning with Particle Swarm Optimization

Alcherio Martinoli, James Pugh

We apply an adapted version of Particle Swarm Optimization to distributed unsupervised robotic learning in groups of robots with only local information. The performance of the learning technique for a simple task is compared across robot groups of various ...

2006

Threshold-based algorithms for power-aware load balancing in sensor networks

Alcherio Martinoli, Vlad Trifa, Christopher Cianci

2005

Modeling and Analysis of Beaconless and Beacon-Based Policies for a Swarm-Intelligent Inspection System

Alcherio Martinoli, Nicolaus Correll

We are developing a swarm-intelligent inspection system based on a swarm of autonomous, miniature robots, using only on-board, local sensors. To estimate intrinsic advantages and limitations of the proposed possible distributed control solution, we capture ...

2005

[VOILES|SAILS], Self-Assembling Intelligent Lighter-than-air Structures

Alcherio Martinoli

2005

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