Publications by Cyrill Silvan Baumann

Multi-robot System Architectures

Alcherio Martinoli, Cyrill Silvan Baumann, Izzet Kagan Erünsal

Springer2025

Combining Multi-Level Modeling with Automatic Control Synthesis for Multi-Robot Systems

As robotic systems become more and more pervasive in our daily lives, automating the design of their controllers is a highly desirable and important goal. There are, however, significant computational challenges due to the costly evaluation of candidate co ...

EPFL2024

Automatic Multi-Robot Control Design and Optimization Leveraging Multi-Level Modeling: An Exploration Case Study

Alcherio Martinoli, Cyrill Silvan Baumann, Wakana Endo

More specifically, a behavior-based controller for a multi-robot exploration scenario is automatically synthesized using a predefined set of basic behaviors and conditions. A key feature of the used synthesis approach is the tailored use of two modeling le ...

Elsevier2023

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

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

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

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

A modular functional framework for the design and evaluation of multi-robot navigation

Alcherio Martinoli, Cyrill Silvan Baumann

In this work, we address the design of tightly integrated control, estimation, and allocation algorithms allowing a group of robots to move collectively. For doing so, we leverage a modular framework that allows us to define precisely the needed functional ...

Elsevier2021

Coupled seismogenic geohazards in Alpine regions

Lyesse Laloui, Pierino Lestuzzi, Alessio Ferrari, Fabrice Dupray, Cyrill Silvan Baumann, Clotaire Michel, Amin Karbassi

COupled seismogenic GEohazards in Alpine Regions (COGEAR) is an interdisciplinary natural hazard project investigating the hazard chain induced by earthquakes. It addresses tectonic processes and the related variability of seismicity in space and time, ear ...

2012