Publications by Nicolaus Correll

Will robots be bodies with brains or brains with bodies?

Biology motivates how complex functionality results from systems of simple materials. ...

2017

Multi-level Spatial Modeling for Stochastic Distributed Robotic Systems

Alcherio Martinoli, Amanda Stella Markowska Prorok, Nicolaus Correll

We propose a combined spatial and non-spatial probabilistic modeling methodology motivated by an inspection task performed by a group of miniature robots. Our models explicitly consider spatiality and yield accurate predictions on system performance. An ag ...

2011

Modeling and Designing Self-Organized Aggregation in a Swarm of Miniature Robots

Alcherio Martinoli, Nicolaus Correll

2011

Collaborative coverage using a swarm of networked miniature robots

Alcherio Martinoli, Nicolaus Correll, Samuel Rutishauser

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

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

Alcherio Martinoli, Nicolaus Correll, Patrick Amstutz

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

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

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

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

Parameter estimation and optimal control of swarm-robotic systems: A case study in distributed task allocation

Nicolaus Correll

2008

Distributed Coverage: From Deterministic to Probabilistic Models

Alcherio Martinoli, Nicolaus Correll

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

2007

Social Integration of Robots into Groups of Cockroaches to Control Self-Organized Choices

Alcherio Martinoli, Roland Siegwart, Francesco Mondada, Fabien Tâche, Masoud Asadpour, Gilles Caprari, Nicolaus Correll, Jean-Louis Deneubourg

Collective behavior based on self-organization has been shown in group-living animals from insects to vertebrates. These findings have stimulated engineers to investigate approaches for the coordination of autonomous multirobot systems based on self-organi ...

American Association for the Advancement of Science2007