Publications de Alcherio Martinoli

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We investigate the performance of three bio-inspired odor source localization algorithms used in non-cooperating multi-robot systems. Our performance metric is the distance overhead of the first robot to reach the source, which is a good measure for the sp ...

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 ...

There is considerable worldwide interest in the use of groups of autonomous marine vehicles to carry our challenging mission scenarios, of which marine habitat mapping of complex, non-structured environments is a representative example. Relative positionin ...

Collision Warning Systems (CWS) are safety sys- tems designed to warn the driver about an imminent collision. A CWS monitors the dynamic state of the traffic in real- time by processing information from various proprioceptive and exteroceptive sensors. It ...

In the framework of SelfSys, we are studying the yield of surface-tension-driven self-assembly that can be obtained with SU8 filled cylinders having different aspect-ratio (height / diameter). We show here, the fabrication process of our parts and an experiment allowing to observe the surface tension driven self-assembly of SU8 micro cylinders in chains after agitation.

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 ...

Over the past years, the field of small unmanned aerial vehicles has grown significantly and several applications have appeared, requiring always more autonomous flight. An important remaining challenge for fully autonomous unmanned aerial vehicles is coll ...

Ultra-wideband (UWB) localization is one of the most promising indoor localization methods. Yet, non-line-of- sight (NLOS) positioning scenarios remain a challenge and can potentially cause significant localization errors. In this work, we leverage the col ...

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 ...

In this paper, we consider a system consisting of multiple floating robotic modules performing self-assembly. Faithfully modeling such a system and its inter-module interactions typically involves capturing the hydrodynamic forces acting on the modules usi ...

Although robotic coverage and collision avoidance are active areas of robotics research, the avoidance of collision situations between robots has often been neglected in the context of multi-robot coverage tasks. In fact, for robots of physical size, colli ...

Modeling and simulation can be powerful tools for analyzing multi-agent systems, such as networked robotic systems and sensor networks. In this paper, it is shown concretely how instances of both these elements fit into a general methodology for multi-leve ...

Given the patchy nature of gas plumes and the slow response of conventional gas sensors, the use of mobile robots for Gas Source Localization (GSL) tasks presents significant challenges. These aspects increase the difficulties in obtaining gas measurements ...

In the present study, we are interested in verifying how the progressive addition of constraints on communication and localization impact the performance of a swarm of small robots in shape formation tasks. Identified to be of importance in a swarm-user in ...

In this work, we investigate active flutter control of a bridge section model equipped with arrays of flaps. We consider three simple control algorithms based on an amplitudegain and a phase-shift for actuating the flaps and stabilizing the section model. ...

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 ...

This paper presents a comparison of linear and nonlinear Model Predictive Control (MPC) strategies for trajectory tracking Micro Aerial Vehicles (MAVs). In this comparative study, we paid particular attention to establish quantitatively fair metrics and te ...

Environmental monitoring and mapping operations are an essential tool to combat climate change. An important branch of this domain concerns the construction of reliable gas maps. Adaptive navigation strategies coupled with multi-robot systems improve the o ...

This paper describes the implementation and modelling of a biologically inspired collective behaviour. The experiments are concerned with the gathering and clustering of randomly distributed small cylinders. Each experiment has been repeated ten times in a simulated environment (parametric simulation) and carried out five times with a group of ten Khepera miniature mobile robots. The simu- lated and experimental results are compared, quantified and discussed showing the advantages and the weaknesses of both

Within the field of multi-robot systems, multi-robot search is one area which is currently receiving a lot of research attention. One major challenge within this area is to design effective algorithms that allow a team of robots to work together to find th ...

Alcherio Martinoli

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Understanding the Potential Impact of Multiple Robots in Odor Source Localization

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

Design and Implementation of a Range-Based Formation Controller for Marine Robots

A new collision warning system for lead vehicles in rear-end collisions

Surface-Tension-Driven Self-Assembly of Filled Cylinders with Different Geometry

Collective Inspection of Regular Structures using a Swarm of Miniature Robots

A Comparative Study of Collision Avoidance Algorithms for Unmanned Aerial Vehicles: Performance and Robustness to Noise

A Framework for NLOS Ultra-Wideband Ranging in Collaborative Mobile Robot Systems

Discrete Multi-Valued Particle Swarm Optimization

Design and Calibration of a Lightweight Physics-Based Model for Fluid-Mediated Self-Assembly of Robotic Modules

On Combining Multi-robot Coverage and Reciprocal Collision Avoidance

Toward Multi-Level Modeling of Robotic Sensor Networks: A Case Study in Acoustic Event Monitoring

Sense in Motion with Belief Clustering: Efficient Gas Source Localization with Mobile Robots

Assembly of Configurations in a Networked Robotic System: A Case Study on a Reconfigurable Interactive Table Lamp

Flutter Suppression of a Bridge Section Model Endowed with Actively Controlled Flap Arrays

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

Linear and Nonlinear Model Predictive Control Strategies for Trajectory Tracking Micro Aerial Vehicles: A Comparative Study

Multi-Robot 3D Gas Distribution Mapping: Coordination, Information Sharing and Environmental Knowledge

Probabilistic Modeling of a Bio-Inspired Collective Experiments with Real Robots

Inspiring and Modeling Multi-Robot Search with Particle Swarm Optimization