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Alcherio Martinoli

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Publications associées (203)

On Combining Multi-Robot Coverage and Reciprocal Collision Avoidance

Alcherio Martinoli, Andreas Breitenmoser

Springer2014

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 ...

2014

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

Distributed Particle Swarm Optimization for Limited Time Adaptation in Autonomous Robots

Alcherio Martinoli, Ezequiel Leonardo Di Mario

Evaluative techniques offer a tremendous potential for on-line controller design. However, when the optimization space is large and the performance metric is noisy, the time needed to properly evaluate candidate solutions becomes prohibitively large and, a ...

2014

Network of automated vehicles: The AutoNet2030 vision

Alcherio Martinoli, Jean Grégoire, Ali Marjovi, Arnaud de La Fortelle

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

Analysis of Fitness Noise in Particle Swarm Optimization: From Robotic Learning to Benchmark Functions

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

Population-based learning techniques have been proven to be effective in dealing with noise and are thus promising tools for the optimization of robotic controllers, which have inherently noisy performance evaluations. This article discusses how the result ...

2014

Top-Down vs Bottom-Up Model-Based Methodologies for Distributed Control: A Comparative Experimental Study

Alcherio Martinoli, Grégory Mermoud, William Christopher Evans, Utkarsh Upadhyay

Model-based synthesis of distributed controllers for multi-robot systems is commonly approached in either a top-down or bottom-up fashion. In this paper, we investigate the experimental challenges of both approaches, with a special emphasis on resource-con ...

Springer-Verlag2014

The Role of Environmental and Controller Complexity in the Distributed Optimization of Multi-Robot Obstacle Avoidance

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

The ability to move in complex environments is a fundamental requirement for robots to be a part of our daily lives. Increasing the controller complexity may be a desirable choice in order to obtain an improved performance. However, these two aspects may p ...

2014

An Experimental Study in Wireless Connectivity Maintenance Using up to 40 Robots Coordinated by an Institutional Robotics Approach

Alcherio Martinoli, José Nuno Ferreira Maia Pereira

This work is developed in the framework of Institutional Robotics (IR), an approach to cooperative distributed robotic systems that draws inspiration from the social sciences. We consider a case study concerned with a swarm of simple robots which has to ma ...

2013

Joint ASV/AUV Range-Based Formation Control: Theory and Experimental Results

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

The use of groups of autonomous marine vehicles has enormous potential in numerous marine applications, perhaps the most relevant of which is the surveying and exploration of the oceans, still widely unknown and misunderstood. In many mission scenarios req ...

2013

The Effect of the Environment in the Synthesis of Robotic Controllers: A Case Study in Multi-Robot Obstacle Avoidance using Distributed Particle Swarm Optimization

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

The ability to move in complex environments is a fundamental requirement for robots to be a part of our daily lives. While in simple environments it is usually straightforward for human designers to foresee the different conditions a robot will be exposed ...

MIT Press2013

A Comparison of PSO and Reinforcement Learning for Multi-Robot Obstacle Avoidance

Alcherio Martinoli, Ezequiel Leonardo Di Mario, Zeynab Talebpour

The design of high-performing robotic controllers constitutes an example of expensive optimization in uncertain environments due to the often large parameter space and noisy performance metrics. There are several evaluative techniques that can be employed ...

IEEE2013

Fluid-mediated parallel self-assembly of polymeric micro-capsules for liquid encapsulation and release

Alcherio Martinoli, Jürgen Brugger, Grégory Mermoud, Loïc Jacot-Descombes, Luis Guillermo Villanueva Torrijo, Cristina Martin Olmos, Victor Javier Cadarso Busto, Rosario Maurizio Gullo, Massimo Mastrangeli

Fluid-mediated self-assembly is one of the most promising routes for assembling and packaging smart microsystems in a scalable and cost-efficient way. In this work the pairwise fluidic self-assembly of 100 μm-sized SU-8 cylinders is studied with respect to ...

2013

A Plume Tracking Algorithm Based on Crosswind Formations

Alcherio Martinoli, Thomas Lochmatter, Inaki Navarro Oiza

We introduce a plume tracking algorithm based on robot formations. The algorithm is inherently designed for multi-robot systems, and requires at least two robots to collaborate. The robots try to keep themselves centered around the plume while moving upwin ...

Springer-Verlag Berlin2013

Environmental Sensing using Land-based Spectrally-selective Cameras and a Quadcopter

Alcherio Martinoli, Michael Minnig, William Christopher Evans, Alexander Bahr

2013

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

Alcherio Martinoli, William Christopher Evans, Alexander Bahr

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

Real-time Optimized Rendezvous on Nonholonomic Resource-Constrained Robots

Alcherio Martinoli, Sven Adrian Gowal

In this work, we consider a group of differential-wheeled robots endowed with noisy relative positioning capabilities. We develop a decentralized approach based on a receding horizon controller to generate, in real-time, trajectories that guarantee the con ...

Springer2013

Evaluating Efficient Data Collection Algorithms for Environmental Sensor Networks

Alcherio Martinoli, William Christopher Evans, Alexander Bahr

Although there exists a large body of work on efficient data collection in sensor networks, the vast majority of proposed techniques have not been implemented on real networks or thoroughly studied on real data. As algorithm performance is highly dependent ...

Springer-Verlag Berlin2013

Acousto-fluidic system assisting in-liquid self-assembly of microcomponents

Alcherio Martinoli, Jürgen Brugger, Grégory Mermoud, Loïc Jacot-Descombes, Rosario Maurizio Gullo, Massimo Mastrangeli, Helmut Knapp

In this paper, we present the theoretical background, design, fabrication and characterization of a micromachined chamber assisting the fluidic self-assembly of micro-electro-mechanical systems in a bulk liquid. Exploiting bubble-induced acoustic microstre ...

2013

Three-dimensional SU-8 microtiles for fluidic self-assembly

Alcherio Martinoli, Jürgen Brugger, Massimo Mastrangeli

2013

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