Alcherio Martinoli

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A Noise-Resistant Mixed-Discrete Particle Swarm Optimization Algorithm for the Automatic Design of Robotic Controllers

Alcherio Martinoli, Cyrill Silvan Baumann

The automatic design of well-performing robotic controllers is still an unsolved problem due to the inherently large parameter space and noisy, often hard-to-define performance metrics, especially when sequential tasks need to be accomplished. Distal contr ...

2022

Hybrid Flock - Formation Control Algorithms

Alcherio Martinoli, Cyrill Silvan Baumann, Jonas Perolini, Emna Tourki

Two prominent categories for achieving coordinated multirobot displacement are flocking and navigation in formation. Both categories have their own body of literature and characteristics, including their respective advantages and disadvantages. While typic ...

Springer Nature Switzerland2022

Leveraging Multi-Level Modelling to Automatically Design Behavioral Arbitrators in Robotic Controllers

Alcherio Martinoli, Cyrill Silvan Baumann, Hugo Richard Birch

Automatic control design for robotic systems is becoming more and more popular. However, this usually involves a significant computational cost, due to the expensive and noisy evaluation of candidate solutions through highfidelity simulation or even real h ...

2022

GaSLAM: An Algorithm for Simultaneous Gas Source Localization and Gas Distribution Mapping in 3D

Alcherio Martinoli, Chiara Ercolani, Lixuan Tang

Chemical gas dispersion poses considerable threat to humans, animals and the environment. The research areas of gas source localization and gas distribution mapping aim to localize the source of gas leaks and map the gas plume respectively, in order to hel ...

2022

Clustering and Informative Path Planning for 3D Gas Distribution Mapping: Algorithms and Performance Evaluation

Alcherio Martinoli, Chiara Ercolani, Lixuan Tang, Ankita Arun Humne

Chemical gas dispersion can represent a severe threat to human and animal lives, as well as to the environment. Constructing a map of the distribution of gas in a fast and reliable manner is critical to ensure accurate monitoring of at-risk facilities and ...

2022

A Distributed Architecture for Onboard Tightly-Coupled Estimation and Predictive Control of Micro Aerial Vehicle Formations

Alcherio Martinoli, Izzet Kagan Erünsal

This paper presents a distributed estimation and control architecture for leader-follower formations of multi-rotor micro aerial vehicles. The architecture involves multi-rate extended Kalman filtering and nonlinear model predictive control in order to opt ...

Springer2022

Spatial microscopic modeling of collective movements in multi-robot systems: Design choices and calibration

Alcherio Martinoli, Cyrill Silvan Baumann

Despite the strong increase in available computational power enabling an unprecedented level of realism in simulation, modeling robotic systems at higher abstraction level remains crucial to efficiently design robot controllers and analyze their properties ...

2022

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

Alcherio Martinoli, Izzet Kagan Erünsal

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 ...

2022

Coordinated Path Planning for Surface Acoustic Beacons for Supporting Underwater Localization

Alcherio Martinoli, Anwar Ahmad Quraishi

Accurate localization is one of the biggest challenges in underwater robotics. The primary reasons behind that are unavailability of satellite-based positioning below the surface, and lack of clear features in natural water bodies for visually aided locali ...

2021

Nonlinear Model Predictive Control for Formations of Multi-Rotor Micro Aerial Vehicles: An Experimental Approach

Alcherio Martinoli, Izzet Kagan Erünsal

In a world where the complexity and performance requirements of the tasks requested from micro aerial vehicles are continuously increasing, smooth design and deployment of multi-robot systems are gaining more significance. This paper tackles such challengi ...

Springer2021

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A Distributed Architecture for Onboard Tightly-Coupled Estimation and Predictive Control of Micro Aerial Vehicle Formations

Alcherio Martinoli, Izzet Kagan Erünsal

Springer2022

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

Alcherio Martinoli, Izzet Kagan Erünsal

2022