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Alcherio Martinoli

Cette personne a quitté l’EPFL

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Publications associées (203)

Page 3 sur 11

Toward the Deployment of an Ultra-Wideband Localization Test Bed

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

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

Risk-Based Human-Aware Multi-Robot Coordination in Dynamic Environments Shared with Humans

Alcherio Martinoli, Zeynab Talebpour

In this paper, we propose a risk-based coordination method for the Multi-Robot Task Allocation (MRTA) problem in human-populated environments. We introduce risk-based bids that incorporate human trajectory prediction uncertainties and furthermore, social c ...

2018

Market-based Coordination in Dynamic Environments Based on Hoplites Framework

Alcherio Martinoli, Zeynab Talebpour, Stefano Savarè

This work focuses on multi-robot coordination based on the Hoplites framework for solving the multi-robot task allocation (MRTA) problem. Three variations of increasing complexity for the MRTA problem, spatial task allocation based on distance, spatial tas ...

2017

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

Alcherio Martinoli, Massimo Mastrangeli, Grégory Mermoud

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

Distributed Learning of Cooperative Robotic Behaviors using Particle Swarm Optimization

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

In this paper we study the automatic synthesis of robotic controllers for the coordinated movement of multiple mobile robots. The algorithm used to learn the controllers is a noise-resistant version of Particle Swarm Optimization, which is applied in two d ...

2016

Distributed spatiotemporal suppression for environmental data collection in real-world sensor networks

Alcherio Martinoli, Alexander Bahr, William Christopher Evans

Environmental processes are often severely over-sampled. As sensor networks become more ubiquitous for this purpose, increasing network longevity becomes ever more important. Radio transceivers in particular are a great source of energy consumption, and ma ...

Ieee Computer Soc2013

Extending Urban Air Quality Maps Beyond the Coverage of a Mobile Sensor Network: Data Sources, Methods, and Performance Evaluation

Alcherio Martinoli, Ali Marjovi, Adrian Arfire

Targeting the problem of generating high-resolution air quality maps for cities, we leverage four different sources of data: (i) in-situ air quality measurements produced by our mobile sensor network deployed on public transportation vehicles, (ii) explana ...

2017

A Distributed Noise-Resistant Particle Swarm Optimization Algorithm for High-Dimensional Multi-Robot Learning

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

Population-based learning techniques have been proven to be effective in dealing with noise in numerical benchmark functions and are thus promising tools for the high-dimensional optimization of controllers for multiple robots with limited sensing capabili ...

2015

Indoor Navigation Research with the Khepera III Mobile Robot: An Experimental Baseline with a Case-study on Ultra-wideband Positioning

Alcherio Martinoli, Alexander Bahr, Amanda Stella Markowska Prorok, Adrian Arfire

Recent substantial progress in the domain of indoor positioning systems and a growing number of indoor location-based applications are creating the need for systematic, efficient, and precise experimental methods able to assess the localization and perhaps ...

2010

Network of automated vehicles: The AutoNet2030 vision

Alcherio Martinoli, Ali Marjovi

AutoNet2030 – Co-operative Systems in Support of Networked Automated Driving by 2030 – is a European project connecting two domains of intensive research: cooperative systems for Intelligent Transportation Systems and Automated Driving. Given the latest de ...

2014

Lumped Drag Model Identification and Real-Time External Force Detection for Rotary-Wing Micro Aerial Vehicles

Alcherio Martinoli, Lucas Cédric Wälti

This work focuses on understanding and identifying the drag forces applied to a rotary-wing Micro Aerial Vehicle (MAV). We propose a lumped drag model that concisely describes the aerodynamical forces the MAV is subject to, with a minimal set of parameters ...

IEEE2024

Behavioral Analysis of Mobile Robot Trajectories Using a Point Distribution Model

Alcherio Martinoli, Jacques Jacot, 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

Two-Phase Online Calibration for Infrared-based Inter-Robot Positioning Modules

Alcherio Martinoli, Amanda Stella Markowska Prorok, Sven Adrian Gowal

Multi-robot systems can solve complex tasks that require the coordination of the team-member positions with respect to each other.While the development of ad-hoc relative positioning platforms embedding cheap off-the-shelf components is a practical choice, ...

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

Multi-Robot Learning with Particle Swarm Optimization

Alcherio Martinoli

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

Hybrid Flock - Formation Control Algorithms

Alcherio Martinoli, Cyrill Silvan Baumann

Two prominent categories for achieving coordinated multirobot displacement are flocking and navigation in formation. Both categories have their own body of literature and characteristics, including their respective advantages and disadvantages. While typic ...

Springer Nature Switzerland2022

Easily Deployable Underwater Acoustic Navigation System for Multi-Vehicle Environmental Sampling Applications

Alcherio Martinoli, Alexander Bahr, Felix Stephan Schill, Anwar Ahmad Quraishi

Water as a medium poses a number of challenges for robots, limiting the progress of research in underwater robotics vis-a-vis ground or aerial robotics. The primary challenges are satellite based positioning and radio communication being unusable due to hi ...

IEEE2019

3D Collision Avoidance Algorithm for Unmanned Aerial Vehicles with Limited Field of View Constraints

Denis Gillet, Alcherio Martinoli, Steven Adriaan Roelofsen

Unmanned Aerial Vehicles (UAVs) are becoming a significant field of research with numerous applications, ranging from mapping to surveillance. New applications, such as aerial delivery of goods, are expected to appear in the next years and will require mor ...

2016

Distributed Scalable Multi-Robot Learning using Particle Swarm Optimization

Alcherio Martinoli

Designing effective behavioral controllers for mobile robots can be difficult and tedious; this process can be circumvented by using online learning techniques which allow robots to generate their own controllers online in an automated fash- ion. In multi- ...

2009

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

Cooperative Multiple Dynamic Object Tracking on Moving Vehicles Based on Sequential Monte Carlo Probability Hypothesis Density Filter

Alcherio Martinoli, Milos Vasic

This paper proposes a generalized method for tracking of multiple objects from moving, cooperative vehicles -- bringing together an Unscented Kalman Filter for vehicle localization and extending a Sequential Monte Carlo Probability Hypothesis Density filte ...

Ieee2016