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IEEE International Conference on Robotics and Automation

作者： William C. Evans Duarte Dias Steven Roelofsen Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering Ecole Polytechnique Fédérale de Lausanne 1015 Lausanne Switzerland

ISBN: (纸本)9781467380270

The remarkable accessibility of modern flying robots makes them an attractive platform for environmental sensing. However, low cost and ease of use are currently incompatible with large payloads, severely limiting the choice of sensor and ultimately modality. This paper describes the design of a system for using a small infrared thermometer to estimate the surface temperature over an area that is large compared to the area measured by the sensor, by mounting it on a flying robot. We leverage a priori knowledge about the spatial statistics of the phenomena under measure in order to plan an informative sampling path, fusing observations by Gaussian process regression. Our approach is designed to be evaluated in an indoor testbed, in which a quadrotor, in cooperation with simulated static sensing nodes, estimates the spatial distribution of surface temperature over a controlled thermal gradient. We perform extensive systematic experimentation both in simulation and our real-world testbed environment, with our algorithm estimating surface temperature to an accuracy of up to 2.1 °C over a 16 m~2 area ranging in value from 25-65 °C.

关键词： Estimation Hybrid-Mobility Sensor

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A realistic simulator for the design and evaluation of intelligent vehicles

A realistic simulator for the design and evaluation of intel...

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International Conference on intelligent Transportation

作者： Sven Gowal Yizhen Zhang Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory Ecole Polytechnique Fédérale de Lausanne Switzerland Applied Materials Inc. Santa Clara CA USA

The number of vehicles hitting the road each day is rapidly increasing, and several problems, such as traffic congestion or driver safety, can no longer be solved in the same fashion as before. intelligent transportation systems could potentially solve part of these problems, but prototyping, designing and testing cooperative smart vehicles is a cumbersome task. This paper presents a realistic simulator, capable of operating both at microscopic and sub-microscopic level, where intelligent vehicles can be designed and analyzed with a pragmatic approach. A number of advances in robotics have already been transferred to vehicular technology, with a potential increase of this trend into the future. Here, we develop a plugin for a well-established robotics simulator (Webots), in order to reinforce at the virtual level this cross-fertilization between the two areas and create a baseline for realistic studies of future solutions in real intelligent vehicles.

关键词： Vehicles Sensors intelligent vehicles Biological system modeling Vehicle dynamics Wheels Engines

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Automatic Multi-Robot Control Design and Optimization Leveraging Multi-Level Modeling: An Exploration Case Study

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IFAC-PapersOnLine 2023年第2期56卷 11462-11469页

作者： Wakana Endo Cyrill Baumann Hajime Asama Alcherio Martinoli Department of Precision Engineering School of Engineering The University of Tokyo Japan Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne (EPFL) Switzerland

In this work, we demonstrate the applicability of a recently proposed automatic synthesis approach for behavioral arbitrators based on Probabilistic Finite State Machines (PFSMs) for a multi-robot scenario. More specifically, a behavior-based controller for a multi-robot exploration scenario is automatically synthesized using a predefined set of basic behaviors and conditions. A key feature of the used synthesis approach is the tailored use of two modeling levels of the scenario, microscopic and submicroscopic, to significantly reduce the computational effort. Furthermore, the modeling is extended by a simplified macroscopic model of the scenario to analytically evaluate the best achievable performance given an ideal controller, taking into account real-world constraints such as limited speed and localization. Taking advantage of the interpretability of the synthesized PFSM-based arbitrators, individualistic and collaborative controllers are analyzed separately to provide insights into the theoretical and experimental effects of collaboration for the considered case study. The obtained results show that the PFSM-based synthesis approach is also suitable for multi-robot scenarios, and in particular that the collaborative solution can compete with a manually designed and fine-tuned solution.

关键词： Multi-Level Modeling Probabilistic Modeling Learning for Control Metaheuristic Optimization Multi-Robot systems Behavior-Based Control

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Toward the Deployment of an Ultra-Wideband Localization Test Bed

Toward the Deployment of an Ultra-Wideband Localization Test...

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IEEE 74th Vehicular Technology Conference (VTC)

作者： Feldman, Alexander Bahr, Alexander Colli-Vignarelli, James Robert, Stephan Dehollain, Catherine Martinoli, Alcherio Institute for Information and Communication Technologies Haute Ecole d'Ingénierie et de Gestion du Canton de Vaud (HEIG-VD) Switzerland Distributed Intelligent Systems and Algorithms Laboratory Ecole Polytechnique Fédérale de Lausanne (EPFL) Switzerland Radio Frequency Integrated Circuit Group Ecole Polytechnique Fédérale de Lausanne (EPFL) Switzerland

ISBN: (纸本)9781424483273

The design, development, and deployment of Ultra-Wideband (UWB) localization systems involves digital and Radio-Frequency (RF) hardware, embedded software, localization algorithms, security and reliability aspects, electromagnetics, and others. Design and integration decisions affect the performance of an UWB system, in particular the most important metrics: localization accuracy and position update rate. To facilitate further development of UWB localization systems and to analyze some of the major trade-offs we share our experience in deploying the EPFL UWB-Lite test bed (U-LITE). We describe an approach to numerical simulation modeling that can help in the design and evaluation of UWB localization systems. To validate our approach we show experimental results with one transmitter and one receiver. Our UWB test bed includes a mobile robot platform, so we can study and evaluate the UWB performance trade-offs in real-world conditions.

关键词： Accuracy Demodulation Radio frequency Radio transmitters Receivers Robots electromagnetic waves electromagnetics embedded software embedded systems localization algorithms position update rate radiofrequency hardware real world conditions ultra wideband c

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Flutter suppression of a bridge section model endowed with actively controlled flap arrays

Flutter suppression of a bridge section model endowed with a...

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IEEE/RSJ International Conference on intelligent Robots and systems

作者： M. Boberg G. Feltrin A. Martinoli Distributed Intelligent Systems and Algorithms Laboratory Ecole Polytechnique Fédérale de Lausanne Switzerland Structural Engineering Laboratory Swiss Federal Laboratories for Materials Science and Technology Duebendorf Switzerland

In this work, we investigate active flutter control of a bridge section model equipped with arrays of flaps. We consider three simple control algorithms based on an amplitude-gain and a phase-shift for actuating the flaps and stabilizing the section model. We have leveraged a linear analytical model of the structural and aeroelastic forces during flutter in order to find efficient control parameters. The proposed solution was validated with wind tunnel experiments, where all the algorithms showed capable of suppressing flutter, and the most efficient one was using all of the flaps on the deck.

关键词： Bridges Solid modeling Aerodynamics Analytical models Wind speed Damping Mathematical model

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Local graph-based distributed control for safe highway platooning

Local graph-based distributed control for safe highway plato...

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2010 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Sven Gowal Riccardo Falconi Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory Ecole Polytechnique Fédérale de Lausanne Switzerland Dipartimento di Elettronica Informatica e Sistemistica Università di Bologna Italy

Using graph theory, this paper investigates how a group of vehicles, endowed with local positioning capabilities (range and bearing to other vehicles), can keep a predefined formation. We propose a longitudinal and lateral controller that stabilizes a system of several vehicles as well as a collision avoidance mechanism. The stability of our approach is supported by a mathematical analysis as well as realistic simulations.

关键词： Vehicles Laplace equations Equations Feedback control Trajectory Graph theory Stability analysis

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Dynamic Positioning of Beacon Vehicles for Cooperative Underwater Navigation

Dynamic Positioning of Beacon Vehicles for Cooperative Under...

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IEEE/RSJ International Conference on intelligent Robotics and systems

作者： Alexander Bahr John J. Leonard Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory at the Ecole Poly-technique Fédérale de Lausanne， Lausanne， Switzerland Department of Mechanical Engineering at Massachusetts Institute of Technology Cambridge MA USA

ISBN: (纸本)9781467317375

Autonomous Underwater Vehicles (AUVs) are used for an ever increasing range of applications due to the maturing of the technology. Due to the absence of the GPS signal underwater, the correct estimation of its position is a challenge for submerged vehicles. One promising strategy to mitigate this problem is to use a group of AUVs where one or more assume the role of a beacon vehicle which has a very accurate position estimate due to an expensive navigation suite or frequent surfacings. These beacon vehicles broadcast their position and the remaining survey vehicles can use this position information and intra-vehicle ranges to update their position estimate. The effectiveness of this approach strongly depends on the geometry between the beacon vehicles and the survey vehicles. The trajectories of the beacon vehicles should thus be planned with the goal to minimize the position uncertainty of the survey vehicles. We propose a distributed algorithm which dynamically computes the locally optimal position for a beacon vehicle using only information obtained from broadcast communication of the survey vehicles. It does not need prior information about the survey vehicles' trajectory and can be used for any group size of beacon and survey vehicles.

关键词： AUVs GPS survey vehicles vehicle Autonomous underwater vehicles Underwater navigation position estimation Global Positioning systems Group Size POSITION INFORMATION Dynamic positioning distributed algorithms

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Towards Multi-Level Modeling of Self-Assembling intelligent Micro-systems 09

Towards Multi-Level Modeling of Self-Assembling Intelligent ...

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International Conference on Autonomous Agents and Multiagent systems

作者： Gregory Mermoud Juergen Brugger Alcherio Martinoli Distributed Intelligent Systems and Algorithms Laboratory EPFL-ENAC-ISTE-DISAL Ecole Polytechnique Federale de Lausanne (EPFL) Microsystems Laboratory EPFL-STI-IMT-LMIS Ecole Polytechnique Federale de Lausanne (EPFL)

ISBN: (纸本)9781615673346

We investigate and model the dynamics of two-dimensional stochastic self-assembly of intelligent micro-systems with minimal requirements in terms of sensing, actuation, and control. A microscopic agent-based model accounts for spatiality and serves as a baseline for assessing the accuracy of models at higher abstraction level. Spatiality is relaxed in Monte Carlo simulations, which still capture the binding energy of each individual aggregate. Finally, we introduce a macroscopic model that only keeps track of the average number of aggregates in each energy state. This model is able to quantitatively and qualitatively predict the dynamics observed at lower, more detailed modeling levels. Since we investigate an idealized system, thus making very few assumptions about the exact nature of the final target system, our framework is potentially applicable to a large body of self-assembling agents ranging from functional micro.-robots endowed with simple sensors and actuators to elementary microfabricated parts. In particular, we show how our suite of models at different abstraction levels can be used for optimizing both the design of the building blocks and the control of the stochastic process.

关键词： Theory Performance Design Aggregation Self-assembly Micro-robotics Monte Carlo simulations Macroscopic modeling Multi-level modeling Monte Carlo technique hierarchical models Abstraction Markov chain theories Macroscopic models Self-assembly aggregates agglomeration

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A distributed formation-based odor source localization algorithm - design, implementation, and wind tunnel evaluation

A distributed formation-based odor source localization algor...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jorge M. Soares A. Pedro Aguiar António M. Pascoal Alcherio Martinoli Laboratory of Robotics and Systems in Engineering and Science University of Lisbon Lisboa Portugal Distributed Intelligent Systems and Algorithms Laboratory Ecole Polytechnique Fédérale de Lausanne (EPFL) Lausanne Switzerland Faculty of Engineering University of Porto Research Center for Systems and Technology Porto Portugal

ISBN: (纸本)9781479969241

Robotic odor source localization is a promising tool with numerous applications in safety, search and rescue, and environmental science. In this paper, we present an algorithm for odor source localization using multiple cooperating robots equipped with chemical sensors. Laplacian feedback is employed to maintain the robots in a formation, introducing spatial diversity that is used to better establish the position of the flock relative to the plume and its source. Robots primarily move upwind but use odor information to adjust their position and spacing so that they are centered on the plume and trace its structure. Real-world experiments were performed with an ethanol plume inside a wind tunnel, and used to both validate the algorithm and assess the impact of different formation shapes.

关键词： Robot sensing systems Robot kinematics Algorithm design and analysis Shape Hardware

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Flexible triangular formation keeping of marine robotic vehicles using range measurements 19

Flexible triangular formation keeping of marine robotic vehi...

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19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

作者： Rego, Francisco Soares, Jorge M. Pascoal, António Aguiar, A. Pedro Jones, Colin Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland National Institute of Oceanography Dona Paula Goa India

ISBN: (纸本)9783902823625

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation. © IFAC.

关键词： Vehicle performance

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