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Your search keyword '"Martinoli, Alcherio"' showing total 214 results
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214 results on '"Martinoli, Alcherio"'

1. Hybrid Flock - Formation Control Algorithms

Author

Baumann, Cyrill, Perolini, Jonas, Tourki, Emna, Martinoli, Alcherio, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Bourgeois, Julien, editor, Paik, Jamie, editor, Piranda, Benoît, editor, Werfel, Justin, editor, Hauert, Sabine, editor, Pierson, Alyssa, editor, Hamann, Heiko, editor, Lam, Tin Lun, editor, Matsuno, Fumitoshi, editor, Mehr, Negar, editor, and Makhoul, Abdallah, editor

Published
2024
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2. A Distributed Architecture for Onboard Tightly-Coupled Estimation and Predictive Control of Micro Aerial Vehicle Formations

Author

Erunsal, I. Kagan, Ventura, Rodrigo, Martinoli, Alcherio, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Bourgeois, Julien, editor, Paik, Jamie, editor, Piranda, Benoît, editor, Werfel, Justin, editor, Hauert, Sabine, editor, Pierson, Alyssa, editor, Hamann, Heiko, editor, Lam, Tin Lun, editor, Matsuno, Fumitoshi, editor, Mehr, Negar, editor, and Makhoul, Abdallah, editor

Published
2024
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5. Nonlinear Model Predictive Control for 3D Formation of Multirotor Micro Aerial Vehicles with Relative Sensing in Local Coordinates

Author

Erunsal, I. Kagan, Ventura, Rodrigo, and Martinoli, Alcherio

Subjects
Computer Science - Systems and Control, Computer Science - Robotics
Abstract

The complex tasks such as surveillance, construction, search and rescue can benefit of the maneuverability of multirotor Micro Aerial Vehicles (MAVs) to obtain robust, cooperative system behavior and formation control is a prominent component of the these complex tasks. This work focuses on the problem of three-dimensional formation control of multirotor MAVs by using exclusively relative sensory information. It proposes a centralized Nonlinear Model Predictive Control (NMPC) approach in a leader-follower scheme. A realistic six degrees of freedom mathematical model of a multirotor MAVs is introduced and leveraged in the control laws. The formulation of the problem is performed based on NMPC and relative sensing framework with respect to local coordinate frames of the robots. This type of formulation makes the formation independent of the full knowledge of global or common reference frames and the utilization of expensive global localization sensors. Real-time Iteration (RTI) based solution to optimal control problem (OCP) is proposed by taking the novel formulation into account. An extensive scenario is designed to test and validate the strategy. Evaluation of the results suggests that satisfactory robust performance is achieved and maintained under model uncertainty and noise in local sensors and even in cases where the dynamics of the formation suddenly changes., Comment: 8 pages, 10 figures, IROS'2019 (submitted)

Published
2019

6. Robust Localization for Multi-robot Formations: An Experimental Evaluation of an Extended GM-PHD Filter

Author

Hirayama, Michiaki, Wasik, Alicja, Kamezaki, Mitsuhiro, Martinoli, Alcherio, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Matsuno, Fumitoshi, editor, Azuma, Shun-ichi, editor, and Yamamoto, Masahito, editor

Published
2022
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7. Distributed Cooperative Localization with Efficient Pairwise Range Measurements

Author

Quraishi, Anwar, Martinoli, Alcherio, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Matsuno, Fumitoshi, editor, Azuma, Shun-ichi, editor, and Yamamoto, Masahito, editor

Published
2022
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11. Vertex: A New Distributed Underwater Robotic Platform for Environmental Monitoring

Author

Schill, Felix, Bahr, Alexander, Martinoli, Alcherio, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Groß, Roderich, editor, Kolling, Andreas, editor, Berman, Spring, editor, Frazzoli, Emilio, editor, Martinoli, Alcherio, editor, Matsuno, Fumitoshi, editor, and Gauci, Melvin, editor

Published
2018
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12. A Rule Synthesis Algorithm for Programmable Stochastic Self-assembly of Robotic Modules

Author

Haghighat, Bahar, Martinoli, Alcherio, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Groß, Roderich, editor, Kolling, Andreas, editor, Berman, Spring, editor, Frazzoli, Emilio, editor, Martinoli, Alcherio, editor, Matsuno, Fumitoshi, editor, and Gauci, Melvin, editor

Published
2018
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13. A Comparative Study of Collision Avoidance Algorithms for Unmanned Aerial Vehicles: Performance and Robustness to Noise

Author

Roelofsen, Steven, Gillet, Denis, Martinoli, Alcherio, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Groß, Roderich, editor, Kolling, Andreas, editor, Berman, Spring, editor, Frazzoli, Emilio, editor, Martinoli, Alcherio, editor, Matsuno, Fumitoshi, editor, and Gauci, Melvin, editor

Published
2018
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14. Design and Calibration of a Lightweight Physics-Based Model for Fluid-Mediated Self-assembly of Robotic Modules

Author

Haghighat, Bahar, Khodr, Hala, Martinoli, Alcherio, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Correll, Nikolaus, editor, Schwager, Mac, editor, and Otte, Michael, editor

Published
2019
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25. Synthesizing Rulesets for Programmable Robotic Self-assembly: A Case Study Using Floating Miniaturized Robots

Author

Haghighat, Bahar, Platerrier, Brice, Waegeli, Loic, Martinoli, Alcherio, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Dorigo, Marco, editor, Birattari, Mauro, editor, Li, Xiaodong, editor, López-Ibáñez, Manuel, editor, Ohkura, Kazuhiro, editor, Pinciroli, Carlo, editor, and Stützle, Thomas, editor

Published
2016
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28. Correction to: Distributed Autonomous Robotic Systems

Author

Groß, Roderich, Kolling, Andreas, Berman, Spring, Frazzoli, Emilio, Martinoli, Alcherio, Matsuno, Fumitoshi, Gauci, Melvin, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Groß, Roderich, editor, Kolling, Andreas, editor, Berman, Spring, editor, Frazzoli, Emilio, editor, Martinoli, Alcherio, editor, Matsuno, Fumitoshi, editor, and Gauci, Melvin, editor

Published
2018
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34. Leveraging Multi-Level Modelling to Automatically Design Behavioral Arbitrators in Robotic Controllers

Author

Baumann, Cyrill, Birch, Hugo, and Martinoli, Alcherio

Abstract

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 hardware. This work aims at reducing the computational cost of automatic design of behavioral arbitrators through the introduction of a two-step approach. In the first step, the structure of the finite state machine governing the behavioral arbitrator is optimized. To this purpose, a more abstracted model of the robotic system is leveraged in order to significantly reduce the computational cost. In the second step, the close-to-hardware, behavioral parameters are fine-tuned using a high-fidelity model. We show that, for a scenario involving a single robot and multiple tasks to be solved sequentially, using the proposed method results in a significant decrease of the computational cost while reaching the same controller performance both in simulation and reality.

Published
2022

37. Information-Driven Gas Distribution Mapping for Autonomous Mobile Robots.

Author

Gongora, Andres, Monroy, Javier, Rahbar, Faezeh, Ercolani, Chiara, Gonzalez-Jimenez, Javier, and Martinoli, Alcherio

Subjects
MOBILE robots, GAS distribution, PARTIALLY observable Markov decision processes, GAUSSIAN Markov random fields, AUTONOMOUS robots, AIR pollutants
Abstract

The ability to sense airborne pollutants with mobile robots provides a valuable asset for domains such as industrial safety and environmental monitoring. Oftentimes, this involves detecting how certain gases are spread out in the environment, commonly referred to as a gas distribution map, to subsequently take actions that depend on the collected information. Since the majority of gas transducers require physical contact with the analyte to sense it, the generation of such a map usually involves slow and laborious data collection from all key locations. In this regard, this paper proposes an efficient exploration algorithm for 2D gas distribution mapping with an autonomous mobile robot. Our proposal combines a Gaussian Markov random field estimator based on gas and wind flow measurements, devised for very sparse sample sizes and indoor environments, with a partially observable Markov decision process to close the robot's control loop. The advantage of this approach is that the gas map is not only continuously updated, but can also be leveraged to choose the next location based on how much information it provides. The exploration consequently adapts to how the gas is distributed during run time, leading to an efficient sampling path and, in turn, a complete gas map with a relatively low number of measurements. Furthermore, it also accounts for wind currents in the environment, which improves the reliability of the final gas map even in the presence of obstacles or when the gas distribution diverges from an ideal gas plume. Finally, we report various simulation experiments to evaluate our proposal against a computer-generated fluid dynamics ground truth, as well as physical experiments in a wind tunnel. [ABSTRACT FROM AUTHOR]

Published
2023
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