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153 results on '"Martinoli, Alcherio"'

3. 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

14. Towards Norm Realization in Institutions Mediating Human-Robot Societies

Author

Wasik, Alicja, Tomic, Stevan, Saffiotti, Alessandro, Pecora, Federico, Martinoli, Alcherio, Lima, Pedro U., Wasik, Alicja, Tomic, Stevan, Saffiotti, Alessandro, Pecora, Federico, Martinoli, Alcherio, and Lima, Pedro U.

Abstract

Social norms are the understandings that govern the behavior of members of a society. As such, they regulate communication, cooperation and other social interactions. Robots capable of reasoning about social norms are more likely to be recognized as an extension of our human society. However, norms stated in a form of the human language are inherently vague and abstract. This allows for applying norms in a variety of situations, but if the robots are to adhere to social norms, they must be capable of translating abstract norms to the robotic language. In this paper we use a notion of institution to realize social norms in real robotic systems. We illustrate our approach in a case study, where we translate abstract norms into concrete constraints on cooperative behaviors of humans and robots. We investigate the feasibility of our approach and quantitatively evaluate the performance of our framework in 30 real experiments with user-based evaluation with 40 participants., Funding Agency:ISR/LARSyS Strategic Funds from FCT FCT[UID/EEA/5009/2013] FCT/11145/12/12/2014/S

Published
2018
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15. Particle Source Localization With a Low-Cost Robotic Sensor System: Algorithmic Design and Performance Evaluation.

Author

Chen, Xinxing, Marjovi, Ali, Huang, Jian, and Martinoli, Alcherio

Abstract

In this paper we tackle the problem of finding the source of particulate matter with a mobile robot equipped with a low-cost multi-channel optical particle counting sensor. The proposed method is based on the Infotaxis odor source localization algorithm and makes multiple modifications to adapt it to particle plumes. In particular, we propose three simple but efficient ways to fuse multiple probability maps associated with various particle sizes and use the resulted integrated map to guide the robot’s movements. A refined measurement data collection is conducted in a wind tunnel to fit the particle plume model. The method with three proposed integration strategies is evaluated in simulation and in the wind tunnel emulating realistic environmental conditions in a repeatable fashion. In particular, we have investigated the impact of two environmental parameters - the wind speed and source release rate on the algorithm performance. The proposed algorithm with the weighted multi-modality map integration strategy outperforms the original Infotaxis and the other two variants. In high wind speed, the proposed algorithm is able on average to estimate the source location with less than 1 meter error in the $80~{m}^{2}$ wind tunnel arena. [ABSTRACT FROM AUTHOR]

Published
2020
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