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Alcherio Martinoli

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Publications associées (203)

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

Comparing and modeling distributed control strategies for miniature self-assembling robots

Alcherio Martinoli, Grégory Mermoud, William Christopher Evans

We propose two contrasting approaches to the scalable distributed control of a swarm of self-assembling miniaturized robots, specifically the formation of chains of a desired length: (1) a deterministic controller in which robots communicate with each othe ...

IEEE2010

Graph based distributed control of non-holonomic vehicles endowed with local positioning information engaged in escorting missions

Alcherio Martinoli, Sven Adrian Gowal, Riccardo Falconi

Using graph theory, this paper investigates how a group of robots, endowed with local positioning (range and bearing from other robots), can be engaged in a leader- following mission whilst keeping a predefined configuration. The possibility to locally cha ...

IEEE2010

A Plume Tracking Algorithm based on Crosswind Formations

Alcherio Martinoli, Thomas Lochmatter, Inaki Navarro Oiza, Ebru Aydin

2010

Towards Optimally Efficient Field Estimation with Threshold-Based Pruning in Real Robotic Sensor Networks

Alcherio Martinoli, Amanda Stella Markowska Prorok, Christopher Cianci

The efficiency of distributed sensor networks depends on an optimal trade-off between the usage of resources and data quality. The work in this paper addresses the problem of optimizing this trade-off in a self-configured distributed robotic sensor network ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2010

A Realistic Simulator for the Design and Evaluation of Intelligent Vehicles

Alcherio Martinoli, Sven Adrian Gowal

The number of vehicles hitting the road each day is rapidly increasing, and several problems, such as traffic conges- tion or driver safety, can no longer be solved in the same fashion as before. Intelligent transportation systems could potentially solve p ...

2010

OpenSense: open community driven sensing of environment

Boi Faltings, Alcherio Martinoli, Karl Aberer, Guillermo Barrenetxea Kobas, Saket Sathe, Dipanjan Chakraborty

This paper outlines a vision for community-driven sensing of our environment. At its core, community sensing is a dynamic new form of mobile geosensor network. We believe that community sensing networks, in order to be widely deployable and sustainable, ne ...

ACM2010

Aggregation-mediated Collective Perception and Action in a Group of Miniature Robots

Alcherio Martinoli, Grégory Mermoud, William Christopher Evans

We introduce a novel case study in which a group of miniaturized robots screen an environment for undesirable cells, and destroy them. Because miniaturized robots are usually endowed with reactive controllers and minimalist sensing and actuation capabiliti ...

2010

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

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

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

Local Graph-based Distributed Control for Safe Highway Platooning

Alcherio Martinoli, Sven Adrian Gowal, Riccardo Falconi

Using graph theory, this paper investigates how a group of vehicles, endowed with local positioning capabilities (range and bearing to other vehicles), can keep a predefined formation. We propose a longitudinal and lateral controller that stabilizes a syst ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2010

Graph-Based Distributed Control for Non-holonomic Vehicles Engaged in a Reconfiguration Task using Local Positioning Information

Alcherio Martinoli, Sven Adrian Gowal, Riccardo Falconi

Formation building and keeping among vehicles has been studied for many years, since 1987 with Reynold's rules. This paper presents a control algorithm, based on recent work in graph theory, able to reconfigure static formations of non-holonomic vehicles e ...

2009

Tracking Odor Plumes in a Laminar Wind Field with Bio-Inspired Algorithms

Alcherio Martinoli, Thomas Lochmatter

We introduce a novel bio-inspired odor source localization algorithm (surge- cast) for environments with a main wind ﬂow and compare it to two well-known algorithms. With all three algorithms, systematic experiments with real robots are carried out in a wi ...

Springer2009

Theoretical Analysis of Three Bio-Inspired Plume Tracking Algorithms

Alcherio Martinoli, Thomas Lochmatter

We derive the theoretical performance of three bio-inspired odor source localization algorithms (casting, surge-spiral and surge-cast) in laminar wind flow. Based on the geometry of the trajectories and the wind direction sensor error, we calculate the dis ...

2009

Distributed Boundary Coverage with a Team of Networked Miniature Robots using a Robust Market-Based Algorithm

Alcherio Martinoli, Patrick Amstutz, Nicolaus Correll

We study distributed boundary coverage of known environments using a team of miniature robots. Distributed boundary coverage is an instance of the multi-robot task-allocation problem and has applications in inspection, cleaning, and painting among others. ...

2009

A Fast On-Board Relative Positioning Module for Multi-Robot Systems

Alcherio Martinoli, Xavier Raemy, James Pugh, Riccardo Falconi, Cédric Favre

We present an on-board robotic module which can determine relative positions among miniature robots. The module uses high-frequency modulated infrared emissions to enable nearby robots to determine the range, bearing, and message of the sender with a rapid ...

2009

Towards Multi-Robot Inspection of Industrial Machinery - From Distributed Coverage Algorithms to Experiments with Miniature Robotic Swarms

Alcherio Martinoli, Nicolaus Correll

Inspection of aircraft and power generation machinery using a swarm of miniature robots is a promising application both from an intellectual and a commercial perspective. Our research is motivated by a case study concerned with the inspection of a jet turb ...

2009

Distributed Scalable Multi-Robot Learning using Particle Swarm Optimization

Alcherio Martinoli, James Pugh

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

Drop-On-Demand Inkjet Printing of SU-8 Polymer

Alcherio Martinoli, Vahid Fakhfouri, Jürgen Brugger, Grégory Mermoud, Joo Yeon Kim

This paper presents drop-on-demand inkjet printing of SU-8 on functionalized surfaces for direct printing of computer controlled polymer patterns. The high viscosity of SU-8 required an in-depth investigation of the print parameters such as pulse amplitude ...

2009

Towards Multi-Level Modeling of Self-Assembling Intelligent Micro-Systems

Alcherio Martinoli, Jürgen Brugger, Grégory Mermoud

We investigate and model the dynamics of two-dimensional stochastic self-assembly of intelligent micro-systems with minimal requirements in terms of sensing, actuation, and control. A microscopic agent-based model accounts for spatiality and serves as a ba ...

IFAAMAS2009

The e-puck, a Robot Designed for Education in Engineering

Francesco Mondada, Jean-Christophe Zufferey, Alcherio Martinoli, Dario Floreano, Stéphane Magnenat, Michael Bonani, Xavier Raemy, Christopher Cianci, James Pugh, Adam Klaptocz

Mobile robots have the potential to become the ideal tool to teach a broad range of engineering disciplines. Indeed, mobile robots are getting increasingly complex and accessible. They embed elements from diverse ﬁelds such as mechanics, digital electronic ...

IPCB: Instituto Politécnico de Castelo Branco2009

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