Alcherio Martinoli

Publications associées (203)

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A Comparative Study of Collision Avoidance Algorithms for Unmanned Aerial Vehicles: Performance and Robustness to Noise

Denis Gillet, Alcherio Martinoli, Steven Adriaan Roelofsen

Over the past years, the field of small unmanned aerial vehicles has grown significantly and several applications have appeared, requiring always more autonomous flight. An important remaining challenge for fully autonomous unmanned aerial vehicles is coll ...

SPRINGER INTERNATIONAL PUBLISHING AG2019

Easily Deployable Underwater Acoustic Navigation System for Multi-Vehicle Environmental Sampling Applications

Alcherio Martinoli, Alexander Bahr, Felix Stephan Schill, Anwar Ahmad Quraishi

Water as a medium poses a number of challenges for robots, limiting the progress of research in underwater robotics vis-a-vis ground or aerial robotics. The primary challenges are satellite based positioning and radio communication being unusable due to hi ...

IEEE2019

Adaptive Risk-Based Replanning For Human-Aware Multi-Robot Task Allocation With Local Perception

Alcherio Martinoli, Zeynab Talebpour

In this letter, we propose an adaptive risk-based replanning strategy in the context of multirobot task allocation for dealing with limitations of local perception and unpredicted human behavior. Our replanning method is based on the variations of social r ...

2019

An Algorithm for Odor Source Localization based on Source Term Estimation

Alcherio Martinoli, Ali Marjovi, Faezeh Rahbar

Finding sources of airborne chemicals with mobile sensing systems finds applications across the security, safety, domestic, medical, and environmental domains. In this paper, we present an algorithm based on source term estimation for odor source localizat ...

IEEE2019

A Flexible Navigation Support System for a Team of Underwater Robots

Alcherio Martinoli, Alexander Bahr, Felix Stephan Schill, Anwar Ahmad Quraishi

2019

Design and Performance Evaluation of an Algorithm Based on Source Term Estimation for Odor Source Localization

Alcherio Martinoli, Ali Marjovi, Faezeh Rahbar

Finding sources of airborne chemicals with mobile sensing systems finds applications across safety, security, environmental monitoring, and medical domains. In this paper, we present an algorithm based on Source Term Estimation for odor source localization ...

2019

Design and Calibration of a Lightweight Physics-Based Model for Fluid-Mediated Self-Assembly of Robotic Modules

Alcherio Martinoli, Hala Khodr, Bahar Haghighat

In this paper, we consider a system consisting of multiple floating robotic modules performing self-assembly. Faithfully modeling such a system and its inter-module interactions typically involves capturing the hydrodynamic forces acting on the modules usi ...

Springer2019

A Rule Synthesis Algorithm for Programmable Stochastic Self-Assembly of Robotic Modules

Alcherio Martinoli, Bahar Haghighat

Programmable self-assembly of modular robots offers promising means for structure formation at different scales. Rule-based approaches have been previously employed for distributed control of stochastic self-assembly processes. The assembly rate in the pro ...

SPRINGER INTERNATIONAL PUBLISHING AG2019

Guest editorial: Special issue on distributed robotics - from fundamentals to applications

Alcherio Martinoli, Roderich Gross

2018

Multi-Robot Coordination in Dynamic Environments Shared with Humans

Alcherio Martinoli, Zeynab Talebpour

This work addresses multi-robot coordination in social human-populated environments based on a Hoplites-based framework for solving the multi-robot task allocation problem. Humans are considered in the proposed coordination mechanism by means of accounting ...

2018

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