Alcherio Martinoli
EPFL ENAC IIE DISAL
GR A2 454 (Bâtiment GR)
Station 2
1015 Lausanne
+41 21 693 68 91
+41 21 693 12 96
Office:
GR A2 454
EPFL
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DISAL
Web site: Web site: https://disal.epfl.ch/
EPFL ENAC SSIE-GE
GR A2 392 (Bâtiment GR)
Station 2
1015 Lausanne
Web site: Web site: https://ssie.epfl.ch/
Fields of expertise
Autonomous Robotics; Distributed Robotics; Swarm Robotics; Distributed Intelligent Systems; Sensor and Actuator Networks; Intelligent Vehicles; Swarm Intelligence; Distributed Control and Estimation; Mechatronic Design; Localization and Navigation
Biography
I received my Diploma in Electrical Engineering from the Swiss Federal Institute of Technology in Zurich (ETHZ), and a Ph.D. in Computer Science from the Swiss Federal Institute of Technology in Lausanne (EPFL). I am currently Full Professor at the School of Architecture, Civil, and Environmental Engineering and the head of the Distributed Intelligent Systems and Algorithms Laboratory. Before joining EPFL I carried out research activities at the Institute of Biomedical Engineering of the ETHZ, at the Institute of Industrial Automation of the Spanish Research Council in Madrid, Spain, and at the California Institute of Technology, Pasadena, U.S.A. Additional information can be found on my full CV.Mission
My research interests focus on methods to design, control, model, and optimize distributed intelligent systems, including multi-robot systems, sensor and actuator networks, and intelligent vehicles. I am also interested in the understanding and control of mixed societies consisting of natural and artificial components. My research policy relies on iteratively closing the loop between theory and physical experiments using modeling and computational techniques. Our research output ranges from fundamental, methodological aspects to more applied contributions, often associated with application areas of interest in my school, especially in environmental and civil engineering.Publications
Selected publications
| Wasik A., Lima P. U., and Martinoli A. Autonomous Robots |
A Robust Localization System for Multi-Robot Formations Based on an Extension of a Gaussian Mixture Probability Hypothesis Density Filter |
| Talebpour Z. and Martinoli A. Robotics and Automation Letters |
Adaptive Risk-Based Replanning For Human-Aware Multi-Robot Task Allocation with Local Perception |
| Haghighat B. and Martinoli A. Swarm Intelligence |
Automatic synthesis of rulesets for programmable stochastic self-assembly of rotationally symmetric robotic modules |
| Prorok A. and Martinoli A. International Journal of Robotics Research |
Accurate Indoor Localization with Ultra-Wideband using Spatial Models and Collaboration |
| Pugh J., Raemy X., Favre C., Falconi R., and Martinoli A. IEEE Transaction on Mechatronic Systems |
A Fast On-Board Relative Positioning Module for Multi-Robot Systems |
| Correll N. and Martinoli A. IEEE Robotics and Automation Magazine |
Multi-Robot Inspection of Industrial Machinery: From Distributed Coverage Algorithms to Experiments with Miniature Robotic Swarms |
| Halloy J., Sempo G., Caprari G., Rivault C., Asadpour M., Tâche F., Saïd I., Durier V., Canonge S., Amé J.M., Detrain C., Correll N., Martinoli A., Mondada F., Siegwart R. R., and Deneubourg J. L. Science |
Social integration of robots in groups of cockroaches to control self-organized choices |
| Martinoli A., Easton K., and Agassounon W. International Journal of Robotics Research |
Modeling of Swarm Robotic Systems: A Case Study in Collaborative Distributed Manipulation |
| Hayes A. T., Martinoli A., and Goodman R. M. IEEE Sensors Journal |
Distributed Odor Source Localization |
| Rahbar F. and Martinoli A. Proc. of the IEEE Int. Conf. on Robotics and Automation |
A Distributed Source Term Estimation Algorithm for Multi-Robot Systems |
| Quraishi A., Bahr A., Schill F., and Martinoli A. Proc. of the IEEE Int. Conf. on Robotics and Automation |
Autonomous Feature Tracing and Adaptive Sampling in Real-World Underwater Environments |
| Marjovi A., Arfire A., and Martinoli A. Proc. of the Int. Conf. on Embedded Wireless Systems and Networks |
Extending Urban Air Pollution Maps beyond the Coverage of a Mobile Sensor Network: Data Sources, Methods, and Performance Evaluation |
| Schill F., Bahr A., and Martinoli A. Proc. of the 13th Int. Symp. on Distributed Autonomous Robotic Systems |
Vertex: A New Distributed Underwater Robotic Platform for Environmental Monitoring |
| Arfire A., Marjovi A., and Martinoli A. Proc. of the Int. Conf. on Embedded Wireless Systems and Networks |
Mitigating Slow Dynamics of Low-Cost Chemical Sensors for Mobile Air Quality Monitoring Sensor Networks |
| Di Mario E., Navarro I., and Martinoli A. Proc. of the 2015 IEEE Int. Conf. on Robotics and Automation |
A Distributed Noise-Resistant Particle Swarm Optimization Algorithm for High-Dimensional Multi-Robot Learning |
| Soares J. M., Aguiar A. P., Pascoal A. M., and Martinoli A. Proc. of the 2015 IEEE Int. Conf. on Robotics and Automation |
A Distributed Formation-Based Odor Source Localization Algorithm -Design, Implementation, and Wind Tunnel Evaluation |
| Gowal S. and Martinoli A. Proc. of the 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems |
Real-time Optimization of Trajectories that Guarantee the Rendezvous of Mobile Robots |
| Mermoud G., Mastrangeli M., Upadhyay U., and Martinoli A. Proc. of the 2012 IEEE Int. Conf. on Robotics and Automation |
Real-Time Automated Modeling and Control of Self-Assembling Systems |
Teaching & PhD
Teaching
Environmental Sciences and Engineering
Microengineering
PhD Students
Jin Wanting, Schmid Nicolaj Andreas, Wälti Lucas Cédric,Past EPFL PhD Students
Arfire Adrian , Baumann Cyrill Silvan , Boberg Klara Maria , Cianci Christopher , Correll Nicolaus , Da Cruz Baptista Dias Duarte , Di Mario Ezequiel Leonardo , Dias Almeida Rodrigues Soares Jorge Miguel , Ercolani Chiara , Erünsal Izzet Kagan , Evans William Christopher , Ferreira Maia Pereira José Nuno , Gowal Sven Adrian , Haghighat Bahar , Lochmatter Thomas , Mermoud Grégory , Prorok Amanda Stella Markowska , Pugh James , Quraishi Anwar Ahmad , Rahbar Faezeh , Roduit Pierre , Roelofsen Alicja Barbara , Roelofsen Steven Adriaan , Talebpour Zeynab , Vasic Milos ,Courses
Signals, instruments and systems
The goal of this course is to transmit knowledge in sensing, computing, communicating, and actuating for programmable
field instruments and, more generally, embedded systems. The student will be able to put in practice the knowledge
acquired using concrete software and hardware tools.
Distributed intelligent systems
The goal of this course is to provide methods and tools for modeling distributed intelligent systems as well as designing and optimizing coordination strategies. The course is a well-balanced mixture of theory and practical activities.