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Towards Optimal Control of Self-Organized Robotic Inspection Systems

Publications associées (32)

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Two-Phase Online Calibration for Infrared-based Inter-Robot Positioning Modules

Alcherio Martinoli, Amanda Stella Markowska Prorok, Sven Adrian Gowal

Multi-robot systems can solve complex tasks that require the coordination of the team-member positions with respect to each other.While the development of ad-hoc relative positioning platforms embedding cheap off-the-shelf components is a practical choice, ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2011

Aggregation-mediated Collective Perception and Action in a Group of Miniature Robots

Alcherio Martinoli, William Christopher Evans, Grégory Mermoud

We introduce a novel case study in which a group of miniaturized robots screen an environment for undesirable cells, and destroy them. Because miniaturized robots are usually endowed with reactive controllers and minimalist sensing and actuation capabiliti ...

2010

Bioinspired Jumping Locomotion for Miniature Robotics

Mirko Kovac

In nature, many small animals use jumping locomotion to move in rough terrain. Compared to other modes of ground locomotion, jumping allows an animal to overcome obstacles that are relatively large compared to its size. In this thesis we outline the main d ...

EPFL2010

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

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

A Fast On-Board Relative Positioning Module for Multi-Robot Systems

Alcherio Martinoli, James Pugh, Xavier Raemy, Riccardo Falconi, Cédric Favre

We present an on-board robotic module which can determine relative positions among miniature robots. The module uses high-frequency modulated infrared emissions to enable nearby robots to determine the range, bearing, and message of the sender with a rapid ...

2009

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 ...

2009

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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 ...

Springer-Verlag New York, Ms Ingrid Cunningham, 175 Fifth Ave, New York, Ny 10010 Usa2008

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Model predictive control (MPC) is a very effective approach to control nonlinear systems, especially when the systems are high dimensional and/or constrained. MPC formulates the problem of input trajectory generation as an optimization problem. However, du ...

2007

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