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Alcherio Martinoli

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Publications associées (203)

Collaborative coverage using a swarm of networked miniature robots

Alcherio Martinoli, Samuel Rutishauser, Nicolaus Correll

We study distributed coverage of environments with unknown extension using a team of networked miniature robots analytically and experimentally. Algorithms are analyzed by incrementally raising the abstraction level starting from physical robots, to realis ...

Elsevier2009

Tracking an Odor Plume in a Laminar Wind Field with the Crosswind-Surge Algorithm

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 w ...

2008

Understanding the Potential Impact of Multiple Robots in Odor Source Localization

Alcherio Martinoli, Thomas Lochmatter

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 ...

Springer-Verlag New York, Ms Ingrid Cunningham, 175 Fifth Ave, New York, Ny 10010 Usa2008

A Comparison of Casting and Spiraling Algorithms for Odor Source Localization in Laminar Flow

Alcherio Martinoli, Xavier Raemy, Thomas Lochmatter, Saurabh Indra

We compare two well-known algorithms for locating odor sources in environments with a main wind flow. Their plume tracking performance is tested through systematic experiments with real robots in a wind tunnel under laminar flow condition. We present the s ...

2008

Simulation Experiments with Bio-Inspired Algorithms for Odor Source Localization in Laminar Wind Flow

Alcherio Martinoli, Thomas Lochmatter

We compare three bio-inspired odor source localization algorithm (casting, surge-spiral and surge-cast) for environments with a main wind flow in simulation. The wind flow is laminar and the simulation setup similar to the setup in the wind tunnel in which ...

IEEE2008

Evolutionary engineering design synthesis of on-board traffic monitoring sensors

Alcherio Martinoli

In this paper, a formal engineering design synthesis methodology based on evolutionary computation is presented, with special emphasis on the design and optimization of distributed independent systems. A case study concerned with design of a sensory system ...

2008

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

Alcherio Martinoli, Amanda Stella Markowska Prorok, Christopher Cianci

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 ...

IEEE Press2008

Distributed Adaptation in Multi-Robot Search using Particle Swarm Optimization

Alcherio Martinoli, James Pugh

We present an adaptive strategy for a group of robots engaged in the localization of multiple targets. The robotic search algorithm is inspired by chemotaxis behavior in bacteria, and the algorithmic parameters are updated using a distributed implementatio ...

2008

Exploration of an Incremental Suite of Microscopic Models for Acoustic Event Monitoring Using a Robotic Sensor Network

Alcherio Martinoli, Christopher Cianci, James Pugh

Simulation is frequently used in the study of multi-agent systems. Unfortunately, in many cases, it is not necessarily clear how faithfully the details of the simulated model represent the behavior of the physical system. Often, the effects of the environm ...

IEEE2008

SwisTrack - A Flexible Open Source Tracking Software for Multi-Agent Systems

Jacques Jacot, Alcherio Martinoli, Pierre Roduit, Thomas Lochmatter, Nicolaus Correll, Christopher Cianci

Vision-based tracking is used in nearly all robotic laboratories for monitoring and extracting of agent positions, orientations, and trajectories. However, there is currently no accepted standard software solution available, so many research groups resort ...

IEEE2008

Inkjet Printing of SU-8; A Case Study for Microlenses

Alcherio Martinoli, Vahid Fakhfouri, Dmitri Boiko, Jürgen Brugger, Edoardo Charbon, Grégory Mermoud, Nicolas Cantale, Joo Yeon Kim

This paper describes a novel method to fabricate polymer MEMS based on the inkjet printing of SU-8, with a special emphasis on integrated micro-optical lens arrays. Inkjet control parameters are optimized in order to enable a stable and reproducible ejecti ...

2008

The Cost of Reality: Effects of Real-World Factors on Multi-Robot Search

Alcherio Martinoli, James Pugh

Designing algorithms for multi-robot systems can be a complex and difficult process: the cost of such systems can be very high, collecting experimental data can be time consuming, and individual robots may malfunction, invalidating experiments. These const ...

2007

Towards Smart Substrates for Controlling Micrometric Droplet Motion

Alcherio Martinoli, Vahid Fakhfouri, Jürgen Brugger, Grégory Mermoud

In this contribution, we describe a novel approach to the problem of setting micrometric droplets in motion. First, this paper reviews the state-of-the-art methods to enable millimetric droplet motion, and investigates the scalability of the most promising ...

2007

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

Alcherio Martinoli, Thomas Lochmatter, Christopher Cianci, James Pugh

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 ...

2007

Inspiring and Modeling Multi-Robot Search with Particle Swarm Optimization

Alcherio Martinoli, James Pugh

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 ...

2007

Communication in a Swarm of Miniature Robots: The e-Puck as an Educational Tool for Swarm Robotics

Alcherio Martinoli, Xavier Raemy, Christopher Cianci, James Pugh

Swarm intelligence, and swarm robotics in particular, are reaching a point where leveraging the potential of communication within an artificial systempromises to uncover newand varied directions for interesting research without compromising the key propert ...

2007

Robotique en essaim: récents résultats et directions futures

Alcherio Martinoli

2007

Robust Distributed Coverage using a Swarm of Miniature Robots

Alcherio Martinoli, Nicolaus Correll

For the multi-robot coverage problem deterministic deliberative as well as probabilistic approaches have been proposed. Whereas deterministic approaches usually provide provable completeness and promise good performance under perfect conditions, probabilis ...

2007

Parallel Learning in Heterogeneous Multi-Robot Swarms

Alcherio Martinoli, James Pugh

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

2007

Modeling Self-Organized Aggregation in a Swarm of Miniature Robots

Alcherio Martinoli, Nicolaus Correll

We model the dynamics of self-organized robot aggregation inspired by a study on aggregation of gregarious arthropods. In swarms of German cockroaches, aggregation into clusters emerges solely from local interactions between the individuals, whereas the pr ...

2007

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