Nicolaus Correll

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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

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

Coordination schemes for distributed boundary coverage with a swarm of miniature robots : synthesis, analysis and experimental validation

Nicolaus Correll

We provide a comparison of a series of original coordination mechanisms for the distributed boundary coverage problem with a swarm of miniature robots. Our analysis is based on real robot experimentation and models at different levels of abstraction. Distr ...

EPFL2007

SwisTrack: A Tracking Tool for Multi-Unit Robotic and Biological Systems

Alcherio Martinoli, Nicolaus Correll, Jean-Louis Deneubourg

Tracking of miniature robotic platforms involves major challenges in image recognition and data association. We present our 3-year effort into developing the platform-independent, easy-to-use, and robust tracking software SwisTrack, which is tailored to re ...

2006

Collective Inspection of Regular Structures using a Swarm of Miniature Robots

Alcherio Martinoli, Nicolaus Correll

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 ...

2006

Modeling and Optimization of a Swarm-Intelligent Inspection System

Alcherio Martinoli, Nicolaus Correll

We present a simple, behavior-based, distributed control algorithm to inspect a regular structure with a swarm of autonomous, miniature robots, using only on-board, local sensors. To estimate intrinsic advantages and limita- tions of the proposed control s ...

Springer2006

Self-Organized Embedded Sensor/Actuator Networks for ''Smart'' Turbines

Alcherio Martinoli, Nicolaus Correll, Christopher Cianci, Xavier Raemy

Combining networks of static sensors with minimalist robotic swarms might enable a new generation of micromachinery equipped with sensor and actuator networks for inspection, maintenance, and repair. In such a scenario, limited capabilities of swarm member ...

2006

Towards Optimal Control of Self-Organized Robotic Inspection Systems

Alcherio Martinoli, Nicolaus Correll

We consider a swarm-intelligent inspection system concerned with the inspection of blades in a jet turbine. The system is based on a swarm of autonomous, miniature robots, using only on-board, local sensors. We capture the dynamics of the system at a highe ...

2006

Comparing Coordination Schemes for Miniature Robotic Swarms: A Case Study in Boundary Coverage of Regular Structures

Alcherio Martinoli, Nicolaus Correll, Samuel Rutishauser

We consider boundary coverage of a regular structure by a swarm of miniature robots, and compare a suite of three fully distributed coordination algorithms experimentally. All algorithms rely on boundary coverage by reactive control, whereas coordination o ...

2006

System Identification of Self-Organizing Robotic Swarms

Alcherio Martinoli, Nicolaus Correll

We show system identification of self-organizing, swarm robotic systems using a ``gray-box'' approach, based on probabilistic macroscopic models. At hand of a well studied case study concerned with the autonomous inspection of a regular structure by a swar ...

Springer Verlag2006

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Coordination schemes for distributed boundary coverage with a swarm of miniature robots : synthesis, analysis and experimental validation

Nicolaus Correll

EPFL2007