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 › ENAC › IIE › DISAL
Website: https://disal.epfl.ch/
+41 21 693 68 91
EPFL › STI › STI-SMT › SMT-ENS
EPFL ENAC SSIE-GE
GR A2 392 (Bâtiment GR)
Station 2
1015 Lausanne
+41 21 693 68 91
Office: GR A2 392
EPFL › ENAC › ENAC-SSIE › SSIE-GE
Website: https://ssie.epfl.ch/
+41 21 693 68 91
EPFL › VPA › VPA-AVP-E › AVP-E › AVP-E-EPFL-GYMN
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
Mission
My research interests focus on methods to design, control, model, localize, 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 model-based and data-driven techniques. Our research output ranges from fundamental, methodological aspects to more applied contributions, often associated with application areas of interest of the ENAC school, especially in environmental and civil engineering.
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.
Publications of Alcherio Martinoli
2026
Conference Papers
Multi-robot Online Coverage with a Team of Resource-Constrained Micro Aerial Vehicles
2026. 17th International Symposium on Distributed Autonomous Robotic Systems, New York, NY, USA, 2024-10-28 - 2024-10-30. p. 192 - 209. DOI : 10.1007/978-3-032-04584-3_14.2025
Journal Articles
In Memoriam: Prof. Reymond Clavel [RAM Society News]
IEEE Robotics & Automation Magazine. 2025. DOI : 10.1109/MRA.2025.3586085.Conference Papers
Physics-Based Gas Mapping with Nano Aerial Vehicles: The ADApprox Algorithm
2025. IEEE/RSJ International Conference on Intelligent Robots and Systems Workshop on Network Robot System: Toward intelligent robotic systems integrated with environments, Beijing, China, 2025-10-19.Cumulative Informative Path Planning for Efficient Gas Source Localization with Mobile Robots
2025. 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hangzhou, China, 2025-10-19 - 2025-10-25.Book Chapters
Multi-robot System Architectures
Encyclopedia of Robotics; Berlin, Heidelberg: Springer, 2025. p. 1 - 12.2024
Conference Papers
Multi-Robot Online Coverage with a Team of Resource-Constrained Micro Aerial Vehicles
2024. 17th International Symposium on Distributed Autonomous Robotic Systems, New York, NY, USA, 2024-10-28 - 2024-10-30.Design and Evaluation of Modular Gas and Wind Sensing Nodes for Static and Mobile Deployments
2024. 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Boston, Massachusetts, USA, July 15 - 19, 2024.Sense in Motion with Belief Clustering: Efficient Gas Source Localization with Mobile Robots
2024. 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, May 13-17, 2024.Lumped Drag Model Identification and Real-Time External Force Detection for Rotary-Wing Micro Aerial Vehicles
2024. 2024 IEEE International Conference on Robotics and Automation, Yokohama, Japan, 2024-05-13 - 2024-05-17. p. 3853 - 3860. DOI : 10.1109/ICRA57147.2024.10610862.Theses
Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles
Lausanne, EPFL, 2024. DOI : 10.5075/epfl-thesis-9459.Gas Sensing with Rotary-Wing Nano Aerial Vehicles
Lausanne, EPFL, 2024. DOI : 10.5075/epfl-thesis-10082.Combining Multi-Level Modeling with Automatic Control Synthesis for Multi-Robot Systems
Lausanne, EPFL, 2024. DOI : 10.5075/epfl-thesis-10725.2023
Journal Articles
3D Gas Sensing with Multiple Nano Aerial Vehicles: Interference Analysis, Algorithms and Experimental Validation
Sensors. 2023. DOI : 10.3390/s23208512.Information-Driven Gas Distribution Mapping for Autonomous Mobile Robots
Sensors. 2023. DOI : 10.3390/s23125387.Conference Papers
Towards Efficient Gas Leak Detection in Built Environments: Data-Driven Plume Modeling for Gas Sensing Robots
2023. 2023 IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, May 29 - June 2, 2023. DOI : 10.1109/ICRA48891.2023.10160816.Multi-Robot 3D Gas Distribution Mapping: Coordination, Information Sharing and Environmental Knowledge
2023. 2023 IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, 29 May- 2 June, 2023. DOI : 10.1109/ICRA48891.2023.10161276.Automatic Multi-Robot Control Design and Optimization Leveraging Multi-Level Modeling: An Exploration Case Study
2023. IFAC World Congress 2023. The 22nd World Congress of the International Federation of Automatic Control, Yokohama, Japan, July 9-14, 2023. p. 11462 - 11469. DOI : 10.1016/j.ifacol.2023.10.435.2022
Journal Articles
Spatial microscopic modeling of collective movements in multi-robot systems: Design choices and calibration
Frontiers In Robotics And Ai. 2022. DOI : 10.3389/frobt.2022.961053.Clustering and Informative Path Planning for 3D Gas Distribution Mapping: Algorithms and Performance Evaluation
IEEE Robotics and Automation Letters. 2022. DOI : 10.1109/LRA.2022.3154026.Conference Papers
A Distributed Architecture for Onboard Tightly-Coupled Estimation and Predictive Control of Micro Aerial Vehicle Formations
2022. International Symposium on Distributed Autonomous Robotic Systems, Montbeliard, France, November 28-30, 2022. p. 156 - 172. DOI : 10.1007/978-3-031-51497-5_12.Linear and Nonlinear Model Predictive Control Strategies for Trajectory Tracking Micro Aerial Vehicles: A Comparative Study
2022. THE 2022 IEEE/RSJ International Conference on, Kyoto, Japan, October 23-27, 2022. p. 12106 - 12113. DOI : 10.1109/IROS47612.2022.9981880.Hybrid Flock - Formation Control Algorithms
2022. The 16th International Symposium on Distributed Autonomous Robotic Systems, Montbéliard, France, November 28-30, 2022. p. 523 - 536. DOI : 10.1007/978-3-031-51497-5_37.Leveraging Multi-Level Modelling to Automatically Design Behavioral Arbitrators in Robotic Controllers
2022. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, October 23-27, 2022. p. 9318 - 9325. DOI : 10.1109/IROS47612.2022.9981817.GaSLAM: An Algorithm for Simultaneous Gas Source Localization and Gas Distribution Mapping in 3D
2022. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, October 23-27, 2022. p. 333 - 340. DOI : 10.1109/IROS47612.2022.9981976.A Noise-Resistant Mixed-Discrete Particle Swarm Optimization Algorithm for the Automatic Design of Robotic Controllers
2022. IEEE Congress on Evolutionary Computation (CEC), Padua, Italy, July 18-23, 2022. p. 1 - 9. DOI : 10.1109/CEC55065.2022.9870229.2021
Journal Articles
A modular functional framework for the design and evaluation of multi-robot navigation
Robotics and Autonomous Systems. 2021. DOI : 10.1016/j.robot.2021.103849.Conference Papers
Online Kinematic and Dynamic Parameter Estimation for Autonomous Surface and Underwater Vehicles
2021. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), Prague, Czech Republic (Online), Sep 27- Oct 1, 2021. p. 4374 - 4381. DOI : 10.1109/IROS51168.2021.9636659.Coordinated Path Planning for Surface Acoustic Beacons for Supporting Underwater Localization
2021. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), Prague, Czech Republic, Sep 27- Oct 1, 2021. p. 4343 - 4349. DOI : 10.1109/IROS51168.2021.9636703.Distributed Cooperative Localization with Efficient Pairwise Range Measurements
2021. 15th International Symposium on Distributed Autonomous Robotic Systems (DARS-SWARM2021), Kyoto, Japan (online), June 1-4, 2021. p. 134 - 147. DOI : 10.1007/978-3-030-92790-5_11.Robust Localization for Multi-robot Formations: An Experimental Evaluation of an Extended GM-PHD Filter
2021. 15th International Symposium on Distributed Autonomous Robotic Systems, Kyoto, Japan, June 1-4, 2021. p. 148 - 162. DOI : 10.1007/978-3-030-92790-5_12.Theses
Source Term Estimation Algorithms for Gas Sensing Mobile Robots
Lausanne, EPFL, 2021. DOI : 10.5075/epfl-thesis-7606.Cooperative Multi-Robot Systems for Aquatic Environmental Sensing
Lausanne, EPFL, 2021. DOI : 10.5075/epfl-thesis-7771.2020
Journal Articles
Particle Source Localization with a Low-Cost Robotic Sensor System: Algorithmic Design and Performance Evaluation
IEEE Sensors Journal. 2020. DOI : 10.1109/JSEN.2020.3002273.A robust localization system for multi-robot formations based on an extension of a Gaussian mixture probability hypothesis density filter
Autonomous Robots. 2020. DOI : 10.1007/s10514-019-09860-5.Conference Papers
3D Odor Source Localization Using a Micro Aerial Vehicle: System Design and Performance Evaluation
2020. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), Las Vegas, Nevada, US, October 25-29, 2020. p. 6194 - 6200. DOI : 10.1109/IROS45743.2020.9341501.A Distributed Source Term Estimation Algorithm for Multi-Robot Systems
2020. IEEE International Conference on Robotics and Automation (ICRA), [Virtual conference], 31 May - 31 August, 2020. p. 5604 - 5610. DOI : 10.1109/ICRA40945.2020.9196959.Theses
An Institutional Approach to Normative Distributed Robotics for Mixed Societies of Humans and Robots
Lausanne, EPFL, 2020. DOI : 10.5075/epfl-thesis-10147.2019
Journal Articles
Lightweight physics-based models for the control of fluid-mediated self-assembly of robotic modules
Robotics and Autonomous Systems. 2019. DOI : 10.1016/j.robot.2019.07.011.Adaptive Risk-Based Replanning For Human-Aware Multi-Robot Task Allocation With Local Perception
IEEE Robotics And Automation Letters. 2019. DOI : 10.1109/LRA.2019.2926966.Design and Performance Evaluation of an Algorithm Based on Source Term Estimation for Odor Source Localization
Sensors. 2019. DOI : 10.3390/s19030656.Conference Papers
Decentralized Nonlinear Model Predictive Control for 3D Formation of Multirotor Micro Aerial Vehicles with Relative Sensing and Estimation
2019. 2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), New Brunswick, NJ, USA, August 22-23, 2019. p. 176 - 178. DOI : 10.1109/MRS.2019.8901098.A Flexible Navigation Support System for a Team of Underwater Robots
2019. IEEE International Symposium on Multi-Robot and Multi-Agent Systems, Rutgers University, New Brunswick, USA, Audust 22-23, 2019. p. 70 - 75. DOI : 10.1109/MRS.2019.8901064.An Algorithm for Odor Source Localization based on Source Term Estimation
2019. 2019 International Conference on Robotics and Automation (ICRA), Palais des congres de Montreal, Montreal, QC, Canada, Mai 20-24, 2019. p. 973 - 979. DOI : 10.1109/ICRA.2019.8793784.A Rule Synthesis Algorithm for Programmable Stochastic Self-Assembly of Robotic Modules
2019. 13th International Symposium on Distributed Autonomous Robotic Systems (DARS), London, ENGLAND, Nov 07-09, 2016. DOI : 10.1007/978-3-319-73008-0_23.Design and Calibration of a Lightweight Physics-Based Model for Fluid-Mediated Self-Assembly of Robotic Modules
2019. 14th International Symposium on Distributed Autonomous Robotic Systems (DARS), Boulder, Colorado, USA, October 15-17, 2018. p. 197 - 210. DOI : 10.1007/978-3-030-05816-6_14.A Comparative Study of Collision Avoidance Algorithms for Unmanned Aerial Vehicles: Performance and Robustness to Noise
2019. 13th International Symposium on Distributed Autonomous Robotic Systems (DARS), London, ENGLAND, Nov 07-09, 2016. p. 75 - 88. DOI : 10.1007/978-3-319-73008-0_6.Vertex: A New Distributed Underwater Robotic Platform for Environmental Monitoring
2019. 13th International Symposium on Distributed Autonomous Robotic Systems (DARS), London, ENGLAND, November 7-9, 2016. p. 679 - 693. DOI : 10.1007/978-3-319-73008-0_47.Easily Deployable Underwater Acoustic Navigation System for Multi-Vehicle Environmental Sampling Applications
2019. IEEE International Conference on Robotics and Automation, Montreal, Canada, May 20-24, 2019. p. 3464 - 3470. DOI : 10.1109/ICRA.2019.8793699.Theses
Distributed State Estimation and Control of Autonomous Quadrotor Formations Using Exclusively Onboard Resources
Lausanne, EPFL, 2019. DOI : 10.5075/epfl-thesis-9224.2018
Journal Articles
Guest editorial: Special issue on distributed robotics - from fundamentals to applications
Autonomous Robots. 2018. DOI : 10.1007/s10514-018-9803-9.Conference Papers
Autonomous Feature Tracing and Adaptive Sampling in Real-World Underwater Environments
2018. IEEE International Conference on Robotics and Automation, Brisbane, 21-25 May 2018. p. 5699 - 5704. DOI : 10.1109/ICRA.2018.8460627.Towards Institutions for Mixed Human-Robot Societies
2018. 17th International Conference on Autonomous Agents and MultiAgent Systems (AAMAS), Stockholm, SWEDEN, Jul 10-15, 2018. p. 2216 - 2217.Design and Performance Evaluation of an Infotaxis-Based Three-Dimensional Algorithm for Odor Source Localization
2018. 25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 1-5, 2018. p. 1413 - 1420. DOI : 10.1109/IROS.2018.8593997.Towards Norm Realization in Institutions Mediating Human-Robot Societies
2018. IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, October, 1- 5, 2018. p. 297 - 304. DOI : 10.1109/IROS.2018.8594079.Towards Institutions for Mixed Human-Robot Societies
2018. 7th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2018), Stockholm, Sweden, July 10–15, 2018. p. 2216 - 2217.Multi-Robot Coordination in Dynamic Environments Shared with Humans
2018. IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Queensland, Australia, May 21-25, 2018. p. 4593 - 4600. DOI : 10.1109/ICRA.2018.8460978.Risk-Based Human-Aware Multi-Robot Coordination in Dynamic Environments Shared with Humans
2018. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 1-5 October, 2018. p. 3365 - 3372. DOI : 10.1109/IROS.2018.8593586.Theses
A Framework for Cooperative Human-Aware Navigation and Coordination of Multi-Robot Systems in Social Environments
Lausanne, EPFL, 2018. DOI : 10.5075/epfl-thesis-9175.Design, Modeling, and Control Methods for Fluid-Mediated Programmable Self-Assembly of Resource-Constrained Robotic Modules
Lausanne, EPFL, 2018. DOI : 10.5075/epfl-thesis-8599.Conference Proceedings
Distributed Autonomous Robotic Systems, 13th International Symposium
20182017
Journal Articles
Automatic synthesis of rulesets for programmable stochastic self-assembly of rotationally symmetric robotic modules
Swarm Intelligence. 2017. DOI : 10.1007/s11721-017-0139-4.Conference Papers
Optimal Path Planning and Coverage Control for Multi-Robot Persistent Coverage in Environments with Obstacles
2017. International Conference on Robotics and Automation, Singapore, May 29- June 3, 2017. p. 1321 - 1327. DOI : 10.1109/ICRA.2017.7989156.Adaptive Lévy Taxis for Odor Source Localization in Realistic Environmental Conditions
2017. IEEE International Conference on Robotics and Automation, Singapore, May 29-June 3, 2017. p. 3552 - 3559. DOI : 10.1109/ICRA.2017.7989407.A Robust Relative Positioning System for Multi-Robot Formations Leveraging an Extended GM-PHD Filter
2017. Multi-Robot and Multi-Agent Systems (MRS), 2017 International Symposium on, Los Angeles, CA, USA, 4-5 Dec. 2017. p. 71 - 77. DOI : 10.1109/MRS.2017.8250933.Extending Urban Air Quality Maps Beyond the Coverage of a Mobile Sensor Network: Data Sources, Methods, and Performance Evaluation
2017. International Conference on Embedded Wireless Systems and Networks (EWSN), Uppsala, Sweden, February 20-22, 2017. p. 12 - 23.A 3-D Bio-inspired Odor Source Localization and its Validation in Realistic Environmental Conditions
2017. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, September 24–28, 2017. p. 3983 - 3989. DOI : 10.1109/IROS.2017.8206252.An Institutional Robotics Approach to the Design of Socially Aware Multi-Robot Behaviors
2017. RO-MAN 2017 Workshop on Towards Intelligent Social Robots: Social Cognitive Systems in Smart Environments, Lisbon, Portugal, August 2017. p. 2 - 7. DOI : 10.13140/RG.2.2.13129.03683.Collision Avoidance with Limited Field of View Sensing: A Velocity Obstacle Approach
2017. IEEE International Conference on Robotics and Automation, Singapore, May 29 to June 3, 2017. p. 1922 - 1927. DOI : 10.1109/ICRA.2017.7989223.Simulation of Cooperative Automated Driving by Bidirectional Coupling of Vehicle and Network Simulators
2017. 2017 IEEE Intelligent Vehicles Symposium, Redondo Beach, California, USA, June 11-14, 2017. p. 1881 - 1886. DOI : 10.1109/IVS.2017.7995979.Probabilistic Modeling of Programmable Stochastic Self-Assembly of Robotic Modules
2017. IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada, September 24–28, 2017. p. 4656 - 5663. DOI : 10.1109/IROS.2017.8206337.Market-based Coordination in Dynamic Environments Based on Hoplites Framework
2017. The 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Vancouver, British Columbia, Canada, September 24–28, 2017. p. 1105 - 1112. DOI : 10.1109/IROS.2017.8202281.Automatic Calibration of Ultra Wide Band Tracking Systems Using A Mobile Robot: A Person Localization Case-study
2017. The International Conference on Indoor Positioning and Indoor Navigation (IPIN 2017), Sapporo, Japan, September 18-21, 2017. DOI : 10.1109/IPIN.2017.8115905.Theses
Cooperative Perception Algorithms for Networked Intelligent Vehicles
Lausanne, EPFL, 2017. DOI : 10.5075/epfl-thesis-7856.Vision-Based Sense and Avoid Algorithms for Unmanned Aerial Vehicles
Lausanne, EPFL, 2017. DOI : 10.5075/epfl-thesis-8043.Book Chapters
Challenges for Automated Cooperative Driving: The AutoNet2030 Approach
Automated Driving; Switzerland: Springer International Publishing, 2017. p. 561 - 570.2016
Journal Articles
Fluid-Mediated Stochastic Self-Assembly at Centimetric and Sub-Millimetric Scales: Design, Modeling, and Control
Micromachines. 2016. DOI : 10.3390/mi7080138.Conference Papers
Synthesizing Rulesets for Programmable Robotic Self-Assembly: A Case Study using Floating Miniaturized Robots
2016. International Conference on Swarm Intelligence, Brussels, Belgium, September, 2016. p. 197 - 209. DOI : 10.1007/978-3-319-44427-7_17.Environmental Field Estimation with Hybrid-Mobility Sensor Networks
2016. IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden. p. 5301 - 5308. DOI : 10.1109/ICRA.2016.7487741.A Graph-Based Formation Algorithm for Odor Plume Tracing
2016. 12th International Symposium on Distributed Autonomous Robotic Systems (DARS), Daejeon, South Korea, November 2-5, 2014. p. 255 - 269. DOI : 10.1007/978-4-431-55879-8_18.Noise-Resistant Particle Swarm Optimization for the Learning of Robust Obstacle Avoidance Controllers using a Depth Camera
2016. 2016 IEEE Congress on Evolutionary Computation, Vancouver, BC, Canada, July 24-29, 2016. p. 685 - 692. DOI : 10.1109/CEC.2016.7743859.Enhancing Measurement Quality through Active Sampling in Mobile Air Quality Monitoring Sensor Networks
2016. IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Alberta, Canada, July 12-15, 2016. p. 1022 - 1027. DOI : 10.1109/AIM.2016.7576904.Distributed Learning of Cooperative Robotic Behaviors using Particle Swarm Optimization
2016. International Symposium on Experimental Robotics, Marrakech, Morocco, June 15-18, 2014. p. 591 - 604. DOI : 10.1007/978-3-319-23778-7_39.Towards 3-D Distributed Odor Source Localization: An Extended Graph-Based Formation Control Algorithm for Plume Tracking
2016. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, October 9-14, 2016. DOI : 10.1109/IROS.2016.7759277.Graph-Based Distributed Control for Adaptive Multi-Robot Patrolling through Local Formation Transformation
2016. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, October 9-14, 2016. p. 1721 - 1728. DOI : 10.1109/IROS.2016.7759276.3D Collision Avoidance Algorithm for Unmanned Aerial Vehicles with Limited Field of View Constraints
2016. Conference on Decision and Control, Las Vegas, Nevada, USA, December 12-14, 2016. p. 2555 - 2560. DOI : 10.1109/CDC.2016.7798647.Mitigating Slow Dynamics of Low-Cost Chemical Sensors for Mobile Air Quality Monitoring Sensor Networks
2016. International Conference on Embedded Wireless Systems and Networks, Graz, Austria, 2016. p. 159 - 167.On Combining Multi-robot Coverage and Reciprocal Collision Avoidance
2016. 12th International Symposium on Distributed Autonomous Robotic Systems (DARS), Daejeon, SOUTH KOREA, NOV 02-05, 2015. p. 49 - 64. DOI : 10.1007/978-4-431-55879-8_4.Distributed Formation Control of Quadrotors under Limited Sensor Field of View
2016. 15th International Conference on Autonomous Agents and Multiagent Systems, Singapore, May 9-13, 2016. p. 1087 - 1095.Vision-Based Unmanned Aerial Vehicle Detection and Tracking for Sense and Avoid Systems
2016. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, October 9-14, 2016. p. 1556 - 1561. DOI : 10.1109/IROS.2016.7759252.A System Implementation and Evaluation of a Cooperative Fusion and Tracking Algorithm based on a Gaussian Mixture PHD Filter
2016. IEEE/RSJ International Conference on Intelligent Robots and Systems, Korea, October, 2016. p. 4172 - 4179. DOI : 10.1109/IROS.2016.7759614.An Overtaking Decision Algorithm for Networked Intelligent Vehicles Based on Cooperative Perception
2016. IEEE Intelligent Vehicles Symposium, Gothenburg, Sweden, June 19-22, 2016. p. 1054 - 1059. DOI : 10.1109/IVS.2016.7535519.On-Board Vision-Based 3D Relative Localization System for Multiple Quadrotors
2016. IEEE International Conference on Robotics and Automation (ICRA), Royal Inst Technol, Ctr Autonomous Syst, Stockholm, SWEDEN, MAY 16-21, 2016. p. 1181 - 1187. DOI : 10.1109/ICRA.2016.7487248.Characterization and Validation of a Novel Robotic System for Fluid-Mediated Programmable Stochastic Self-Assembly
2016. IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, October 9-14, 2016. p. 2778 - 2783. DOI : 10.1109/IROS.2016.7759431.An Algorithm for Formation-Based Chemical Plume Tracing Using Robotic Marine Vehicles
2016. 2016 MTS/IEEE Oceans, Monterey, CA, USA, September 19-23, 2'16. DOI : 10.1109/OCEANS.2016.7761119.Incorporating Perception Uncertainty in Human-Aware Navigation: A Comparative Study
2016. the IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), NewYork city, NewYork, USA, AUGUST 26 – 31, 2016. p. 570 - 577. DOI : 10.1109/ROMAN.2016.7745175.Cooperative Multiple Dynamic Object Tracking on Moving Vehicles Based on Sequential Monte Carlo Probability Hypothesis Density Filter
2016. IEEE International Conference on Intelligent Transportation Systems, Rio de Janeiro, Brazil, November 2016. p. 2163 - 2170. DOI : 10.1109/ITSC.2016.7795906.Distributed Graph-Based Control of Convoys of Heterogeneous Vehicles using Curvilinear Road Coordinates
2016. 2016 IEEE Intelligent Transportation Systems Conference, Rio de Janeiro, Brazil, November 1-4, 2016. p. 879 - 886. DOI : 10.1109/ITSC.2016.7795659.Theses
Mobile Sensor Networks for Air Quality Monitoring in Urban Settings
Lausanne, EPFL, 2016. DOI : 10.5075/epfl-thesis-7068.Formation-Based Odour Source Localisation Using Distributed Terrestrial and Marine Robotic Systems
Lausanne, EPFL, 2016. DOI : 10.5075/epfl-thesis-7080.Mitigation of Wind-Induced Vibrations in Long-Span Bridges using a Distributed Flap System
Lausanne, EPFL, 2016. DOI : 10.5075/epfl-thesis-7069.2015
Conference Papers
The Khepera IV Mobile Robot: Performance Evaluation, Sensory Data and Software Toolbox
2015. ROBOT2015: Second Iberian Robotics Conference, Lisbon, Portugal, November 19-21, 2015. p. 767 - 781. DOI : 10.1007/978-3-319-27146-0_59.On-Board Human-Aware Navigation for Indoor Resource-Constrained Robots: A Case-Study with the Ranger
2015. 2015 IEEE/SICE International Symposium on System Integration, Nagoya, Japan, December 11-13, 2015. p. 63 - 68. DOI : 10.1109/SII.2015.7404955.Flutter Suppression of a Bridge Section Model Endowed with Actively Controlled Flap Arrays
2015. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, September 28 - October 02, 2015. p. 5936 - 5941. DOI : 10.1109/IROS.2015.7354221.A Collaborative Sensor Fusion Algorithm for Multi-Object Tracking Using a Gaussian Mixture Probability Hypothesis Density Filter
2015. IEEE International Conference on Intelligent Transportation Systems, Las Palmas de Gran Canaria, Spain, September 2015. p. 491 - 498. DOI : 10.1109/ITSC.2015.87.Reciprocal Collision Avoidance For Quadrotors Using On-board Visual Detection
2015. International Conference on Intelligent Robots and Systems, Hamburg, Germany, September 28 - October 2, 2015. DOI : 10.1109/IROS.2015.7354053.Model-based Rendezvous Calibration of Mobile Sensor Networks for Monitoring Air Quality
2015. IEEE Sensors Conference, Busan, Republic of Korea, November 1-4, 2015. DOI : 10.1109/ICSENS.2015.7370258.Lidar-Based Relative Position Estimation and Tracking for Multi-Robot Systems
2015. ROBOT'2015 - Second Iberian Robotics Conference, Lisbon, November 19-21, 2015. p. 3 - 16. DOI : 10.1007/978-3-319-27146-0_1.Distributed Particle Swarm Optimization - Particle Allocation and Neighborhood Topologies for the Learning of Cooperative Robotic Behaviors
2015. IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, September 28 - October 02, 2015. p. 2958 - 2965. DOI : 10.1109/IROS.2015.7353785.A Distributed Noise-Resistant Particle Swarm Optimization Algorithm for High-Dimensional Multi-Robot Learning
2015. IEEE International Conference on Robotics and Automation, Seattle, Washington, USA, May 26-30, 2015. p. 5970 - 5976. DOI : 10.1109/ICRA.2015.7140036.High Resolution Air Pollution Maps in Urban Environments Using Mobile Sensor Networks
2015. The 11th International Conference on Distributed Computing in Sensor Systems (DCOSS 2015), Fortaleza, Brazil, June 10-12, 2015. p. 11 - 20. DOI : 10.1109/DCOSS.2015.32.A Novel Bridge Section Model Endowed with Actively Controlled Flap Arrays Mitigating Wind Impact
2015. 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA, May 26-30. DOI : 10.1109/ICRA.2015.7139437.A Distributed Formation-based Odor Source Localization Algorithm – Design, Implementation, and Wind Tunnel Evaluation
2015. 2015 IEEE International Conference on Robotics and Automation, Seattle, WA, USA, May 26-30, 2015. DOI : 10.1109/ICRA.2015.7139436.Experimental Validation of the Wing-Aileron-Tab Combination Applied to an Actively Controlled Bridge Section Model
2015. 14th International Conference on Wind Engineering, Porto Alegre, Brazil, June 21-26, 2015.Distributed Deconfliction Algorithm for Unmanned Aerial Vehicles with Limited Range and Field of View Sensors
2015. American Control Conference, Chicago, IL, USA, July 1-3, 2015. p. 4356 - 4361. DOI : 10.1109/ACC.2015.7172014.Distributed Graph-based Convoy Control for Networked Intelligent Vehicles
2015. IEEE Intelligent Vehicles, Seoul, Korea, June 2015. p. 138 - 143. DOI : 10.1109/IVS.2015.7225676.Distributed Particle Swarm Optimization using Optimal Computing Budget Allocation for Multi-Robot Learning
2015. IEEE Congress on Evolutionary Computation, Sendai, Japan, May 25-28 2015. p. 566 - 572. DOI : 10.1109/CEC.2015.7256940.SwarmViz: An Open-Source Visualization Tool for Particle Swarm Optimization
2015. IEEE Congress on Evolutionary Computation, Sendai, Japan, May 25-28, 2015. p. 179 - 186. DOI : 10.1109/CEC.2015.7256890.Distributed vs. Centralized Particle Swarm Optimization for Learning Flocking Behaviors
2015. 13th European Conference on Artificial Life (ECAL 2015), York, United Kingdom, 20-24 July 2015. p. 302 - 309. DOI : 10.7551/978-0-262-33027-5-ch056.Lily: A Miniature Floating Robotic Platform for Programmable Stochastic Self-Assembly
2015. IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA, 2015. DOI : 10.1109/ICRA.2015.7139452.Theses
Distributed Multi-Robot Learning using Particle Swarm Optimization
Lausanne, EPFL, 2015. DOI : 10.5075/epfl-thesis-6707.A Distributed Intelligent Sensing Approach for Environmental Monitoring Applications
Lausanne, EPFL, 2015. DOI : 10.5075/epfl-thesis-6673.2014
Journal Articles
Distributed Particle Swarm Optimization for limited-time adaptation with real robots
Robotica. 2014. DOI : 10.1017/S026357471300101X.Formalization, Implementation, and Modeling of Institutional Controllers for Distributed Robotic Systems
Artificial Life. 2014. DOI : 10.1162/ARTL_a_00100.Three-dimensional polymeric microtiles for optically-tracked fluidic self-assembly
Microelectronic Engineering. 2014. DOI : 10.1016/j.mee.2014.04.017.Accurate Indoor Localization with Ultra-Wideband using Spatial Models and Collaboration
International Journal of Robotics Research (IJRR). 2014. DOI : 10.1177/0278364913500364.Conference Papers
Network of automated vehicles: The AutoNet2030 vision
2014. 21st World Congress on Intelligent Transport Systems, Detroit, Michigan, USA, September 7-11, 2014.Distributed Particle Swarm Optimization for Limited Time Adaptation in Autonomous Robots
2014. International Symposium on Distributed Autonomous Robotic Systems, Baltimore, Maryland, USA, November 8-11, 2012. p. 383 - 396. DOI : 10.1007/978-3-642-55146-8_27.Design and Implementation of a Range-Based Formation Controller for Marine Robots
2014. ROBOT2013: First Iberian Robotics Conference, Madrid, Spain, November 28-29, 2013. p. 55 - 67. DOI : 10.1007/978-3-319-03413-3_5.Top-Down vs Bottom-Up Model-Based Methodologies for Distributed Control: A Comparative Experimental Study
2014. 12th International Symposium on Experimental Robotics, New Delhi, India, December 17-21, 2010. p. 615 - 629. DOI : 10.1007/978-3-642-28572-1_42.The Role of Environmental and Controller Complexity in the Distributed Optimization of Multi-Robot Obstacle Avoidance
2014. IEEE International Conference on Robotics and Automation, Hong Kong, China, May 31 - June 7, 2014. p. 571 - 577. DOI : 10.1109/ICRA.2014.6906912.Analysis of Fitness Noise in Particle Swarm Optimization: From Robotic Learning to Benchmark Functions
2014. IEEE Congress on Evolutionary Computation, Beijing, China, July 6-11, 2014. p. 2785 - 2792. DOI : 10.1109/CEC.2014.6900514.Model and Control of a Flap System Mitigating Wind Impact on Structures
2014. 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, May 31 - June 7 2014. DOI : 10.1109/ICRA.2014.6906620.On Combining Multi-Robot Coverage and Reciprocal Collision Avoidance
2014. Twelfth Int. Symp. on Distributed Autonomous Robotic Systems, Daejeon, Korea, November 2014. p. 49 - 64. DOI : 10.1007/978-4-431-55879-8_4.Automated Real-Time Control of Fluidic Self-Assembly of Microparticles
2014. 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong (China), May 31 - June 7, 2014. p. 5860 - 5865. DOI : 10.1109/ICRA.2014.6907721.Theses
Advancing Social Interactions Among Robots : An Institutional Economics-based Approach to Distributed Robotic Systems
Lausanne, EPFL, 2014. DOI : 10.5075/epfl-thesis-6237.Book Chapters
Social-Aware Coordination of Multi-robot Systems Based on Institutions
Human Behavior Understanding in Networked Sensing: Theory and Applications of Networks of Sensors; Springer International Publishing, 2014. p. 407 - 430.2013
Journal Articles
Acousto-fluidic system assisting in-liquid self-assembly of microcomponents
Journal of Micromechanics and Microengineering. 2013. DOI : 10.1088/0960-1317/23/12/125026.Fluid-mediated parallel self-assembly of polymeric micro-capsules for liquid encapsulation and release
Soft Matter. 2013. DOI : 10.1039/c3sm51923f.Conference Papers
Evaluating Efficient Data Collection Algorithms for Environmental Sensor Networks
2013. 10th International Symposium on Distributed Autonomous Robotic Systems, Lausanne, Switzerland, November 1-3, 2010. p. 77 - 89. DOI : 10.1007/978-3-642-32723-0_6.Real-time Optimized Rendezvous on Nonholonomic Resource-Constrained Robots
2013. 13th International Symposium on Experimental Robotics, Québec City, Canada, June 17-21, 2012. p. 353 - 368. DOI : 10.1007/978-3-319-00065-7_25.Distributed spatiotemporal suppression for environmental data collection in real-world sensor networks
2013. 9th IEEE International Conference on Distributed Computing in Sensor Systems (DCOSS), Cambridge, Massachusetts, USA, May 21-23, 2013. p. 70 - 79. DOI : 10.1109/DCOSS.2013.74.Environmental Sensing using Land-based Spectrally-selective Cameras and a Quadcopter
2013. Thirteenth Int. Symp. on Experimental Robotics, Québec City, Canada, June 2012. p. 259 - 272. DOI : 10.1007/978-3-319-00065-7_19.A Comparison of PSO and Reinforcement Learning for Multi-Robot Obstacle Avoidance
2013. IEEE Congress on Evolutionary Computation, Cancún, México, June 20-23, 2013. p. 149 - 156. DOI : 10.1109/CEC.2013.6557565.Three-dimensional SU-8 microtiles for fluidic self-assembly
2013. 39th International Conference on Micro and Nano Engineering (MNE 2013), London, 16-19 September 2013.An Experimental Study in Wireless Connectivity Maintenance Using up to 40 Robots Coordinated by an Institutional Robotics Approach
2013. IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, November 3-8, 2013. p. 5073 - 5079. DOI : 10.1109/IROS.2013.6697090.Joint ASV/AUV Range-Based Formation Control: Theory and Experimental Results
2013. 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013. p. 5579 - 5585. DOI : 10.1109/ICRA.2013.6631378.A Plume Tracking Algorithm Based on Crosswind Formations
2013. Distributed Autonomous Robotic Systems, Lausanne, Switzerland, November 2010. p. 91 - 102. DOI : 10.1007/978-3-642-32723-0_7.The Effect of the Environment in the Synthesis of Robotic Controllers: A Case Study in Multi-Robot Obstacle Avoidance using Distributed Particle Swarm Optimization
2013. 12th European Conference on Artificial Life, Taormina, Italy, September 2-6, 2013. p. 561 - 568. DOI : 10.7551/978-0-262-31709-2-ch081.Accurate Localization with Ultra-Wideband: Tessellated Spatial Models and Collaboration
2013. 13th International Symposium on Experimental Robotics (ISER), Quebec, Canada, June, 2012. p. 321 - 335. DOI : 10.1007/978-3-319-00065-7_23.Books
Distributed Autonomous Robotic Systems
Berlin Heidelberg: Springer, 2013.Theses
A Framework for Graph-Based Distributed Rendezvous of Nonholonomic Multi-Robot Systems
Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5845.Models and Algorithms for Ultra-Wideband Localization in Single- and Multi-Robot Systems
Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5746.Book Chapters
Low-Cost Multi-Robot Localization
Redundancy in Robot Manipulators and Multi-Robot Systems; Springer, 2013. p. 15 - 33.A general methodology for the control of mixed natural-artificial societies
Handbook of Collective Robotics; Singapore: Pan Stanford Publishing, 2013. p. 547 - 586.Self-Organized Robotic Systems: Large-Scale Experiments in Aggregation and Self-Assembly using Miniature Robots
Handbook of Collective Robotics; Singapore: Pan Stanford Publishing, 2013. p. 229 - 259.2012
Conference Papers
Real-time Optimization of Trajectories that Guarantee the Rendezvous of Mobile Robots
2012. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Algarve, Portugal, October 7-12, 2012. p. 3518 - 3525. DOI : 10.1109/IROS.2012.6385636.Low-Cost Collaborative Localization for Large-Scale Multi-Robot Systems
2012. IEEE International Conference on Robotics and Automation (ICRA), May, 2012. p. 4236 - 4241. DOI : 10.1109/ICRA.2012.6225016.Online Model Estimation of Ultra-Wideband TDOA Measurements for Mobile Robot Localization
2012. IEEE International Conference on Robotics and Automation (ICRA), May, 2012. p. 807 - 814. DOI : 10.1109/ICRA.2012.6224869.A new collision warning system for lead vehicles in rear-end collisions
2012. IEEE Intelligent Vehicles Symposium (IV), Alcalá de Henares, Spain, June 3-7, 2012. p. 674 - 679. DOI : 10.1109/IVS.2012.6232244.Real-Time Automated Modeling and Control of Self-Assembling Systems
2012. 2012 IEEE International Conference on Robotics and Automation, St. Paul, Minnesota, USA, May 14-18, 2012. p. 4266 - 4273. DOI : 10.1109/ICRA.2012.6224888.Measuring Sensible Heat Flux with High Spatial Density
2012. IEEE Sensor Applications Symposium, Brescia, Italy, 2012. DOI : 10.1109/SAS.2012.6166293.Modeling and Benchmarking Ultra-Wideband Localization for Mobile Robots
2012. 2012 IEEE International Conference on Ultra-Wideband, Syracuse, NY, USA, 17 - 20 September 2012. p. 443 - 447. DOI : 10.1109/ICUWB.2012.6340421.Physical interactions in swarm robotics: the hand-bot case study
2012. 10th International Symposium on Distributed Autonomous Robotic Systems (DARS 2010), Lausanne, Switzerland, November 1-3,2010. p. 585 - 595. DOI : 10.1007/978-3-642-32723-0_42.Theses
Design, Modeling and Optimization of Stochastic Reactive Distributed Robotic Systems
Lausanne, EPFL, 2012. DOI : 10.5075/epfl-thesis-5392.Talks
A Flexible In Situ Power Monitoring Unit for Environmental Sensor Networks
Workshop on Robotics for Environmental Monitoring (IROS 2012), Vilamoura, Portugal, October 7, 2012.2011
Journal Articles
Multi-level Spatial Modeling for Stochastic Distributed Robotic Systems
The International Journal of Robotics Research (IJRR). 2011. DOI : 10.1177/0278364910399521.Modeling and Designing Self-Organized Aggregation in a Swarm of Miniature Robots
International Journal of Robotics Research. 2011. DOI : 10.1177/0278364911403017.Conference Papers
A Framework for NLOS Ultra-Wideband Ranging in Collaborative Mobile Robot Systems
2011. International Conference on Indoor Positioning and Indoor Navigation (IPIN), Minho, Portugal, September, 2011.Formalizing Institutions as Executable Petri Nets for Distributed Robotic Systems
2011. European Conference on Artificial Life 2011, Paris, France, August 8-12, 2011.Two-Phase Online Calibration for Infrared-based Inter-Robot Positioning Modules
2011. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Fransisco, CA, USA, September 25-30, 2011. p. 3313 - 3319. DOI : 10.1109/IROS.2011.6094979.A Trajectory-based Calibration Method for Stochastic Motion Models
2011. IEEE/RSJ International Conference on Intelligent Robots and Systems. p. 4341 - 4347. DOI : 10.1109/IROS.2011.6094940.An Adaptive Field Estimation Algorithm for Sensor Networks in Dynamic Environments
2011. Workshop on Robotics for Environmental Monitoring at the International Conference on Intelligent Robots and Systems, San Francisco.Toward the Deployment of an Ultra-Wideband Localization Test Bed
2011. Vehicular Technology Conference, San Francisco, California, USA, September 5-8, 2011. DOI : 10.1109/VETECF.2011.6093170.A Reciprocal Sampling Algorithm for Lightweight Distributed Multi-Robot Localization
2011. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Fransisco, CA, USA, September 25-30, 2011. p. 3241 - 3247. DOI : 10.1109/IROS.2011.6094993.Towards Autonomous Energy-Wise RObjects
2011. 12th Conference Towards Autonomous Robotic Systems, Sheffield, UK, August 31 - September 2, 2011. p. 311 - 322. DOI : 10.1007/978-3-642-23232-9_28.Bayesian Rendezvous for Distributed Robotic Systems
2011. IEEE/RSJ 2011 International Conference on Intelligent Robots and Systems, San Fransisco, CA, USA, September 25-30, 2011. p. 2765 - 2771. DOI : 10.1109/IROS.2011.6094976.Patents
Containers assembled in fluid and corresponding production
US2012145572 ; WO2010122499 ; WO2010122499 . 2011.2010
Conference Papers
Aggregation-mediated Collective Perception and Action in a Group of Miniature Robots
2010. 9th International Conference on Autonomous Agents and Multiagent Systems (AAMAS-2010), Toronto, Canada, May 10-14, 2010. p. 599 - 606.Towards Optimally Efficient Field Estimation with Threshold-Based Pruning in Real Robotic Sensor Networks
2010. 2010 IEEE International Conference on Robotics and Automation, Anchorage, Alaska, USA, May 3-8. p. 5453 - 5459. DOI : 10.1109/ROBOT.2010.5509782.Graph based distributed control of non-holonomic vehicles endowed with local positioning information engaged in escorting missions
2010. 2010 IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, USA, May 3-7, 2010. p. 3207 - 3214. DOI : 10.1109/ROBOT.2010.5509139.A Plume Tracking Algorithm based on Crosswind Formations
2010. Int. Symp. on Distributed Autonomous Robotic Systems, Lausanne, Switzerland, November, 2010.Indoor Navigation Research with the Khepera III Mobile Robot: An Experimental Baseline with a Case-study on Ultra-wideband Positioning
2010. IEEE International Conference on Indoor Positioning and Indoor Navigation (IPIN), ETH Zurich, September 15-17, 2010. p. 1 - 9. DOI : 10.1109/IPIN.2010.5647880.OpenSense: open community driven sensing of environment
2010. 2010 ACM SIGSPATIAL International Workshop on GeoStreaming, IWGS 2010, San Jose, CA, USA, November 2, 2010. DOI : 10.1145/1878500.1878509.Comparing and modeling distributed control strategies for miniature self-assembling robots
2010. 2010 IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, USA, May 3-7, 2010. p. 1438 - 1445. DOI : 10.1109/ROBOT.2010.5509666.Local Graph-based Distributed Control for Safe Highway Platooning
2010. IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 18-22, 2010. p. 6070 - 6076. DOI : 10.1109/IROS.2010.5649318.A Realistic Simulator for the Design and Evaluation of Intelligent Vehicles
2010. 13th International IEEE Conference on Intelligent Transportation Systems, Madeira, Portugal, September 19–22, 2010. DOI : 10.1109/ITSC.2010.5625010.Theses
Bio-inspired and probabilistic algorithms for distributed odor source localization using mobile robots
Lausanne, EPFL, 2010. DOI : 10.5075/epfl-thesis-4628.Posters
SPM Measurements of Hydrophobic Interactions
Nano-Tera.ch Annual Plenary Meeting, Bern, Switzerland, April 29, 2010.Surface-Tension-Driven Self-Assembly of Filled Cylinders with Different Geometry
Nano-Tera.ch Annual Plenary Meeting, Bern, Switzerland, April 29, 2010.Modeling Self-Assembly at All Scales
Nano-Tera.ch Annual Plenary Meeting, Bern, Switzerland, April 29, 2010.2009
Journal Articles
Collaborative coverage using a swarm of networked miniature robots
Robotics and Autonomous Systems. 2009. DOI : 10.1016/j.robot.2008.10.023.Towards Multi-Robot Inspection of Industrial Machinery - From Distributed Coverage Algorithms to Experiments with Miniature Robotic Swarms
IEEE Robotics and Automation Magazine. 2009. DOI : 10.1109/MRA.2008.931633.Distributed Boundary Coverage with a Team of Networked Miniature Robots using a Robust Market-Based Algorithm
Annals of Mathematics and Artificial Intelligence. 2009. DOI : 10.1007/s10472-009-9127-8.Distributed Scalable Multi-Robot Learning using Particle Swarm Optimization
Swarm Intelligence Journal. 2009. DOI : 10.1007/s11721-009-0030-z.A Fast On-Board Relative Positioning Module for Multi-Robot Systems
IEEE/ASME Transactions on Mechatronics, Focused Section on Mechatronics in Multi Robot Systems. 2009. DOI : 10.1109/TMECH.2008.2011810.Drop-On-Demand Inkjet Printing of SU-8 Polymer
Micro and Nanosystems. 2009. DOI : 10.2174/1876402910901010063.Conference Papers
The e-puck, a Robot Designed for Education in Engineering
2009. 9th Conference on Autonomous Robot Systems and Competitions, Castelo Branco, Portugal, May 7, 2009. p. 59 - 65.Towards Multi-Level Modeling of Self-Assembling Intelligent Micro-Systems
2009. 8th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2009), Budapest, 10-15 May, 2009. p. 89 - .Localizing an Odor Source and Avoiding Obstacles: Experiments in a Wind Tunnel using Real Robots
2009. 13th International Symposium on Olfaction and Electronic Nose, Brescia, Italy, April 15-17, 2009. p. 69 - 72. DOI : 10.1063/1.3156629.Theoretical Analysis of Three Bio-Inspired Plume Tracking Algorithms
2009. 2009 IEEE International Conference on Robotics and Automation (ICRA 2009), Kobe, Japan, May 12-17, 2009. DOI : 10.1109/ROBOT.2009.5152686.Tracking Odor Plumes in a Laminar Wind Field with Bio-Inspired Algorithms
2009. 11th International Symposium on Experimental Robotics 2008 (ISER 2008), Athens, Greece, July 14-17, 2008. p. 473 - 482. DOI : 10.1007/978-3-642-00196-3_54.Graph-Based Distributed Control for Non-holonomic Vehicles Engaged in a Reconfiguration Task using Local Positioning Information
2009. 2nd International Conference on Robot Communication and Coordination, Odense, March 31-April 2, 2009. p. 1 - 6. DOI : 10.4108/ICST.ROBOCOMM2009.5865.Specialization as an Optimal Strategy Under Varying External Conditions
2009. IEEE Int. Conf. on Robotics and Automation, Kobe, Japan, 2009. p. 1941 - 1946. DOI : 10.1109/ROBOT.2009.5152798.Theses
Distributed intelligent algorithms for robotic sensor networks monitoring discontinuous anisotropic environmental fields
Lausanne, EPFL, 2009. DOI : 10.5075/epfl-thesis-4247.Trajectory analysis using point distribution models : algorithms, performance evaluation, and experimental validation using mobile robots
Lausanne, EPFL, 2009. DOI : 10.5075/epfl-thesis-4262.Posters
Fluidic-mediated self-assembly for hybrid functional micro/nanosystems (SELFSYS)
Atelier LEA à Arc-et-Senans, Arc-et-Senans, France, September 8-9, 2009.2008
Journal Articles
Evolutionary engineering design synthesis of on-board traffic monitoring sensors
Research In Engineering Design. 2008. DOI : 10.1007/s00163-008-0047-0.Conference Papers
SwisTrack - A Flexible Open Source Tracking Software for Multi-Agent Systems
2008. IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems (IROS 2008), Nice, France, September 22-26, 2008. p. 4004 - 4010. DOI : 10.1109/IROS.2008.4650937.A Distributed Scalable Approach to Formation Control in Multi-Robot Systems
2008. International Symposium on Distributed Autonomous Robotic Systems, Tsukuba, Ibaraki, Japan, November 17-19, 2008.Understanding the Potential Impact of Multiple Robots in Odor Source Localization
2008. 9th Symposium on Distributed Autonomous Robotic Systems (DARS 2008), Tsukuba, Japan, November 17-19, 2008. p. 239 - 250. DOI : 10.1007/978-3-642-00644-9_21.Simulation Experiments with Bio-Inspired Algorithms for Odor Source Localization in Laminar Wind Flow
2008. Seventh International Conference on Machine Learning and Applications (ICMLA 2008), San Diego, CA, USA, December 11-13, 2008. DOI : 10.1109/ICMLA.2008.128.Tracking an Odor Plume in a Laminar Wind Field with the Crosswind-Surge Algorithm
2008. Int. Symp. Experimental Robotics, Athens, Greece, July, 2008. p. 473 - 482.A Comparison of Casting and Spiraling Algorithms for Odor Source Localization in Laminar Flow
2008. 2008 IEEE International Conference on Robotics and Automation, Pasadena, California, May 19-23, 2008. p. 1138 - 1143. DOI : 10.1109/ROBOT.2008.4543357.Assembly of Configurations in a Networked Robotic System: A Case Study on a Reconfigurable Interactive Table Lamp
2008. IEEE Swarm Intelligence Symposium, St. Louis, Missouri, USA, September 21-23, 2008. p. 1 - . DOI : 10.1109/SIS.2008.4668318.Distributed Adaptation in Multi-Robot Search using Particle Swarm Optimization
2008. 10th International Conference on the Simulation of Adaptive Behavior 2008, Osaka, Japan, July 7-12, 2008. p. 393 - 402. DOI : 10.1007/978-3-540-69134-1_39.Exploration of an Incremental Suite of Microscopic Models for Acoustic Event Monitoring Using a Robotic Sensor Network
2008. IEEE International Conference on Robotics and Automation, Pasadena, CA, US, May 19-23, 2008. p. 3290 - 3295. DOI : 10.1109/ROBOT.2008.4543712.Theses
Synthesis, modeling, and experimental validation of distributed robotic search
Lausanne, EPFL, 2008. DOI : 10.5075/epfl-thesis-4256.Book Chapters
An Exploration of Online Parallel Learning in Heterogeneous Multi-Robot Swarms
Design and Control of Intelligent Robotic Systems; Springer, 2008. p. 133 - 151.2007
Journal Articles
Social Integration of Robots into Groups of Cockroaches to Control Self-Organized Choices
Science. 2007. DOI : 10.1126/science.1144259.Geruchslokalisation mit mobilen Robotern
IT Business. 2007.A Challenging Application in Swarm Robotics: The Autonomous Inspection of Complex Engineered Structures
Bulletin of the Swiss Society for Automatic Control. 2007.Odor Source Localization with Mobile Robots
Bulletin of the Swiss Society for Automatic Control. 2007.Conference Papers
Parallel Learning in Heterogeneous Multi-Robot Swarms
2007. IEEE Congress on Evolutionary Computation 2007, Singapore, September 25-28. p. 3839 - 3846. DOI : 10.1109/CEC.2007.4424971.Modeling Self-Organized Aggregation in a Swarm of Miniature Robots
2007. IEEE 2007 International Conference on Robotics and Automation Workshop on Collective Behaviors inspired by Biological and Biochemical Systems, Rome, Italy, April 14.Robust Distributed Coverage using a Swarm of Miniature Robots
2007. IEEE International Conference on Robotics and Automation, Rome, Italy, April 10-14. p. 379 - 384. DOI : 10.1109/ROBOT.2007.363816.Distributed Coverage: From Deterministic to Probabilistic Models
2007. IEEE Int. Conf. on Robotics and Automation, Rome, Italy, April, 2007. p. 379 - 384. DOI : 10.1109/ROBOT.2007.363816.Toward Multi-Level Modeling of Robotic Sensor Networks: A Case Study in Acoustic Event Monitoring
2007. International Conference on Robot Communication and Coordination (ROBOCOMM), Athens, Greece, October 15-17, 2007. p. 1 - 8. DOI : 10.4108/ICST.ROBOCOMM2007.2275.A Quantitative Method for Comparing Trajectories of Mobile Robots Using Point Distribution Models
2007. 2007 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Diego, CA, USA, 29 october - 2 november 2007. p. 2441 - 2448. DOI : 10.1109/IROS.2007.4399126.The Cost of Reality: Effects of Real-World Factors on Multi-Robot Search
2007. IEEE International Conference on Robotics and Automation, Rome, Italy, April 10-14, 2007. p. 397 - 404. DOI : 10.1109/ROBOT.2007.363819.Towards Smart Substrates for Controlling Micrometric Droplet Motion
2007. Foundations of Nanoscience (FNANO07): Self-Assembled Architectures and Devices, Snowbird, UT, April 18-April 21, 2007.Communication in a Swarm of Miniature Robots: The e-Puck as an Educational Tool for Swarm Robotics
2007. Simulation of Adaptive Behavior (SAB-2006), Swarm Robotics Workshop, Rome, Italy, October, 2006. p. 103 - 115. DOI : 10.1007/978-3-540-71541-2_7.Robotique en essaim: récents résultats et directions futures
2007. Journées Nationales de la Recherche en Robotique 2007, Obernai, France, October, 2007.Inspiring and Modeling Multi-Robot Search with Particle Swarm Optimization
2007. IEEE Swarm Intelligence Symposium, Honolulu, Hawaii, USA, April 1-5, 2007. p. 332 - 339. DOI : 10.1109/SIS.2007.367956.Theses
Coordination schemes for distributed boundary coverage with a swarm of miniature robots : synthesis, analysis and experimental validation
Lausanne, EPFL, 2007. DOI : 10.5075/epfl-thesis-3919.2006
Conference Papers
Applying Aspects of Multi-Robot Search to Particle Swarm Optimization
2006. International Workshop on Ant Colony Optimization and Swarm Intelligence, Brussels, Belgium, September 4-7, 2006. p. 506 - 507. DOI : 10.1007/11839088_54.Discrete Multi-Valued Particle Swarm Optimization
2006. IEEE Swarm Intelligence Symposium, Indianapolis, Indiana, USA, May 12-14. p. 103 - 110.Towards Optimal Control of Self-Organized Robotic Inspection Systems
2006. 8th International IFAC Symposium on Robot Control (SYROCO), Bologna, Italy, September 6-8. DOI : 10.3182/20060906-3-IT-2910.00052.Comparing Coordination Schemes for Miniature Robotic Swarms: A Case Study in Boundary Coverage of Regular Structures
2006. The 10th International Symposium on Experimental Robotics (ISER), Rio de Janeiro, Brazil, July 6-10. p. 471 - 480. DOI : 10.1007/978-3-540-77457-0_44.Collective Inspection of Regular Structures using a Swarm of Miniature Robots
2006. The 9th Int. Symp. on Experimental Robotics (ISER), Singapore, June 18-21. p. 375 - 385. DOI : 10.1007/11552246_36.Evolving Neural Controllers for Collective Robotic Inspection
2006. 9th Online World Conference on Soft Computing in Industrial Applications (WSC9). p. 721 - 733. DOI : 10.1007/3-540-31662-0_55.Self-Organized Embedded Sensor/Actuator Networks for ''Smart'' Turbines
2006. IEEE/RSJ International Conference on Intelligent Robots and Systems Workshop on Network Robot System: Toward intelligent robotic systems integrated with environments, Beijing, China, October, 10.Behavioral Analysis of Mobile Robot Trajectories Using a Point Distribution Model
2006. Ninth Int. Conference on the Simulation of Adaptive Behavior, Roma, 25-29 september. p. 819 - . DOI : 10.1007/11840541_67.Modeling and Optimization of a Swarm-Intelligent Inspection System
2006. Int. Symp. on Distributed Autonomous Robotic Systems (DARS), Toulouse, France, June 23-25. p. 369 - 378. DOI : 10.1007/978-4-431-35873-2_36.Small-Scale Robot Formation Movement Using a Simple On-Board Relative Positioning System
2006. 10th International Symposium on Experimental Robotics (ISER), Rio de Janeiro, Brazil, July 6-10. p. 297 - 306. DOI : 10.1007/978-3-540-77457-0_28.SwisTrack: A Tracking Tool for Multi-Unit Robotic and Biological Systems
2006. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Beijing, China, October, 9-15. p. 2185 - 2191. DOI : 10.1109/IROS.2006.282558.System Identification of Self-Organizing Robotic Swarms
2006. The 8th Int. Symp. on Distributed Autonomous Robotic Systems (DARS), Minneapolis/St. Paul, Minnesota, USA, July 12-14. p. 31 - 40. DOI : 10.1007/4-431-35881-1_4.Relative Localization and Communication Module for Small-Scale Multi-Robot Systems
2006. IEEE International Conference on Robotics and Automation, Miami, Florida, USA, May 15-19, 2006. p. 188 - 193. DOI : 10.1109/ROBOT.2006.1641182.Multi-Robot Learning with Particle Swarm Optimization
2006. International Conference on Autonomous Agents and Multiagent Systems, Hakodate, Japan, May 8-12. p. 441 - 448. DOI : 10.1145/1160633.1160715.2005
Conference Papers
Threshold-based algorithms for power-aware load balancing in sensor networks
2005. IEEE Swarm Intelligence Symposium (SIS2005), Pasadena, California, United States, June 8-10, 2005. p. 349 - 356. DOI : 10.1109/SIS.2005.1501642.[VOILES|SAILS], Self-Assembling Intelligent Lighter-than-air Structures
2005. Eight International Conference on Generative Art, Milano, December. p. 297 - 311.Particle swarm optimization for unsupervised robotic learning
2005. Swarm Intelligence Symposium, California, US, 8-10 June, 2005. p. 92 - 99. DOI : 10.1109/SIS.2005.1501607.Modeling and Analysis of Beaconless and Beacon-Based Policies for a Swarm-Intelligent Inspection System
2005. IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain, April 18-22. p. 2488 - 2493. DOI : 10.1109/ROBOT.2005.1570484.2004
Journal Articles
Modeling of Swarm Robotic Systems: A Case Study in Collaborative Distributed Manipulation
International Journal of Robotics Research. 2004. DOI : 10.1177/0278364904042197.2003
Conference Papers
Evolutionary Design of a Collective Sensory System
2003. p. 283 - 290.Evolution of Sensory Configurations for Intelligent Vehicles
2003. p. 351 - 356. DOI : 10.1109/IVS.2003.1212935.2002
Journal Articles
Quand les robots imitent la nature
La Recherche. 2002.Conference Papers
Towards Evolutionary Design of Intelligent Transportation Systems
2002.1999
Theses
Swarm intelligence in autonomous collective robotics : from tools to the analysis and synthesis of distributed control strategies
Lausanne, EPFL, 1999. DOI : 10.5075/epfl-thesis-2069.1998
Conference Papers
Probabilistic Modeling of a Bio-Inspired Collective Experiments with Real Robots
1998. Int. Symp. on Distributed Autonomous Robotic Systems, Karlsruhe, Germany, May, 1998. p. 289 - 308. DOI : 10.1007/978-3-642-72198-4_28.1997
Conference Papers
Towards a Reliable Set-Up for Bio-Inspired Collective Experiments with Real Robots
1997. Int. Symp. on Experimental Robotics, Barcelona, Spain, June, 1997. p. 597 - 608. DOI : 10.1007/BFb0112995.1995
Conference Papers
Robip: A Software Package for the Experimental Evaluation of the Required Degrees of Freedom for a Biped Robot
1995. IFAC-Workshop on HumanOriented Design of Advanced Robotics Systems, Vienna, Austria, September, 1995. p. 203 - 208.1993
Journal Articles
In-vitro Study of the 2D Velocity Distribution and Volume Flow Using Quantitative C-Mode Doppler
Europ. Journal of Ultrasound, Euroson Abstracts. 1993.1991
Conference Papers
Representing Patterns of Parkinsonian Movements Using Sequential Neural Networks
1991. Int. Conf. of the IEEE Eng. in Med. and Biol. Soc., Orlando, Florida. p. 1462 - 1463. DOI : 10.1109/IEMBS.1991.684547.Teaching & PhD
PhD Students
Nicolaj Andreas Schmid, Yacine Derder, Lucas Cédric Wälti, Alexander Wallen Kiessling, Wanting Jin
Past EPFL PhD Students
Nicolaus Correll, James Pugh, Christopher Cianci, Thomas Lochmatter, Grégory Mermoud, Amanda Stella Markowska Prorok, Sven Adrian Gowal, José Nuno Ferreira Maia Pereira, William Christopher Evans, Ezequiel Leonardo Di Mario, Klara Maria Boberg, Adrian Arfire, Jorge Miguel Soares, Steven Adriaan Roelofsen, Milos Vasic, Bahar Haghighat, Zeynab Talebpour, Duarte Da Cruz Baptista Dias, Alicja Barbara Roelofsen, Anwar Ahmad Quraishi, Faezeh Rahbar, Cyrill Baumann, Chiara Ercolani, Izzet Kagan Erünsal
Past EPFL PhD Students as codirector
Courses
Distributed intelligent systems
ENG-466
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.
Signals, instruments and systems
ENG-366
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.