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Alcherio Martinoli

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Publications associées (203)

Graph-Based Distributed Control for Adaptive Multi-Robot Patrolling through Local Formation Transformation

Alcherio Martinoli, José Nuno Ferreira Maia Pereira, Alicja Barbara Roelofsen, Rodrigo Martins de Matos Ventura

Multi-robot cooperative navigation in real-world environments is essential in many applications, including surveillance and search-and-rescue missions. State-of-the-art methods for cooperative navigation are often tested in ideal laboratory conditions and ...

Ieee2016

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

Towards 3-D Distributed Odor Source Localization: An Extended Graph-Based Formation Control Algorithm for Plume Tracking

Alcherio Martinoli, Jonathan Giezendanner, Anil Augustin Kodiyan, Jorge Miguel Dias Almeida Rodrigues Soares, António Pedro Rodrigues de Aguiar, Ali Marjovi

The large number of potential applications for robotic odor source localization has motivated the development of a variety of plume tracking algorithms, the majority of which work in restricted two-dimensional scenarios. In this paper, we introduce a distr ...

IEEE2016

Characterization and Validation of a Novel Robotic System for Fluid-Mediated Programmable Stochastic Self-Assembly

Alcherio Martinoli, Bahar Haghighat

Several self-assembly systems have been developed in recent years, where depending on the capabilities of the building blocks and the controlability of the environment, the assembly process is guided typically through either a fully centralized or a fully ...

Ieee2016

On-Board Vision-Based 3D Relative Localization System for Multiple Quadrotors

Alcherio Martinoli, Duarte Da Cruz Baptista Dias, Rodrigo Martins de Matos Ventura

This work proposes a novel relative localization system, based on active markers and an on-board camera, for tracking multiple quadrotors in a limited field of view. The system extracts the 3D poses of the markers including one that, by pulsating at a pred ...

Ieee2016

Vision-Based Unmanned Aerial Vehicle Detection and Tracking for Sense and Avoid Systems

Denis Gillet, Alcherio Martinoli, Pascal Fua, Vincent Lepetit, Steven Adriaan Roelofsen, Artem Rozantsev, Krishna Raj Sapkota

We propose an approach for on-line detection of small Unmanned Aerial Vehicles (UAVs) and estimation of their relative positions and velocities in the 3D environment from a single moving camera in the context of sense and avoid systems. This problem is cha ...

Ieee2016

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

Alcherio Martinoli, Milos Vasic, Jonathan Gan

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

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

An Overtaking Decision Algorithm for Networked Intelligent Vehicles Based on Cooperative Perception

Alcherio Martinoli, Inaki Navarro Oiza, Milos Vasic, Gael Lederrey

This paper presents an overtaking decision algorithm for networked intelligent vehicles. The algorithm is based on a cooperative tracking and sensor fusion algorithm that we previously developed. The ego vehicle is equipped with lane keeping and lane chang ...

Ieee2016

Noise-Resistant Particle Swarm Optimization for the Learning of Robust Obstacle Avoidance Controllers using a Depth Camera

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

The Ranger robot was designed to interact with children in order to motivate them to tidy up their room. Its mechanical configuration, together with the limited field of view of its depth camera, make the learning of obstacle avoidance behaviors a hard pro ...

Ieee2016

Enhancing Measurement Quality through Active Sampling in Mobile Air Quality Monitoring Sensor Networks

Alcherio Martinoli, Adrian Arfire, Ali Marjovi

In recent years, a growing number of research groups have targeted the development and deployment of networks using low-cost chemical sensors for monitoring air quality. Due to economical reasoning, most of these systems make use of some sort of mobility t ...

IEEE2016

Environmental Field Estimation with Hybrid-Mobility Sensor Networks

Alcherio Martinoli, Steven Adriaan Roelofsen, William Christopher Evans, 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

Synthesizing Rulesets for Programmable Robotic Self-Assembly: A Case Study using Floating Miniaturized Robots

Alcherio Martinoli, Loïc Tsering Waegeli, Bahar Haghighat, Brice Platerrier

2016

A System Implementation and Evaluation of a Cooperative Fusion and Tracking Algorithm based on a Gaussian Mixture PHD Filter

Alcherio Martinoli, David Mansolino, Milos Vasic

This paper focuses on a real system implementation, analysis, and evaluation of a cooperative sensor fusion algorithm based on a Gaussian Mixture Probability Hypothesis Density (GM-PHD) filter, using simulated and real vehicles endowed with automotive-grad ...

Ieee2016

Distributed Graph-Based Control of Convoys of Heterogeneous Vehicles using Curvilinear Road Coordinates

Alcherio Martinoli, Florian Zimmermann, Inaki Navarro Oiza, Milos Vasic

This paper investigates the problem of controlling a heterogeneous group of vehicles with the aim of forming multi-lane convoys. We use a distributed, graph-based control law, implemented in a longitudinal coordinate system parallel to the road. Each vehic ...

Ieee2016

A Graph-Based Formation Algorithm for Odor Plume Tracing

Alcherio Martinoli, Jorge Miguel Dias Almeida Rodrigues Soares

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 ...

Springer Japan2016

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

Alcherio Martinoli, Jorge Miguel Dias Almeida Rodrigues Soares, António Pedro Rodrigues de Aguiar

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 ...

IEEE2016

Distributed Formation Control of Quadrotors under Limited Sensor Field of View

Alcherio Martinoli, Duarte Da Cruz Baptista Dias

ACM2016

A Novel Bridge Section Model Endowed with Actively Controlled Flap Arrays Mitigating Wind Impact

Alcherio Martinoli, Glauco Feltrin, Klara Maria Boberg

In this work, we present the SmartBridge, a novel bridge section model equipped with actively controlled arrays of flaps aiming at mitigating wind-induced vibrations of long-span bridges. The active model, as well as its support structure, is described in ...

2015

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

Alcherio Martinoli, Adrian Arfire, Ali Marjovi

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 ...

IEEE2015

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