Jim Pugh


10/03 – 12/08 PhD Student in the Distributed Intelligent Systems and Algorithms Laboratory, EPFL

8/03 – 9/03 Research Assistant, Caltech

9/99 – 6/03 Bachelor of Science in Electrical and Computer Engineering, Caltech

Full Cv

Topics of Interest

My work is on exploring the dynamics of distributed robotic search, where a group of robots use distributed behavioral rules to localize targets in a possibly unknown environment. Specifically, I am interested in modeling the search process, synthesizing controllers for the robotic swarm, and developing technology to enable effective decentralized swarm control.

Current projects

Synthesis, Modeling, and Experimental Validation of Distributed Robotic Search
On-Board Relative Positioning for a Team of Miniature Robots
Realistic Multi-Robot Simulation (Webots)
The e-puck Educational Robot



A Fast On-Board Relative Positioning Module for Multi-Robot Systems

J. Pugh; X. Raemy; C. Favre; R. Falconi; A. Martinoli 

IEEE/ASME Transactions on Mechatronics, Focused Section on Mechatronics in Multi Robot Systems. 2009. Vol. 14, p. 151-162. DOI : 10.1109/TMECH.2008.2011810.


A Distributed Scalable Approach to Formation Control in Multi-Robot Systems

I. Navarro; J. Pugh; A. Martinoli; F. Matia 

2008. International Symposium on Distributed Autonomous Robotic Systems, Tsukuba, Ibaraki, Japan, November 17-19, 2008.

An Exploration of Online Parallel Learning in Heterogeneous Multi-Robot Swarms

J. Pugh; A. Martinoli 

Design and Control of Intelligent Robotic Systems; Springer, 2008. p. 133-151.

Distributed Adaptation in Multi-Robot Search using Particle Swarm Optimization

J. Pugh; A. Martinoli 

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

C. M. Cianci; J. Pugh; A. Martinoli 

2008. IEEE International Conference on Robotics and Automation, Pasadena, CA, US, May 19-23, 2008. p. 3290-3295. DOI : 10.1109/ROBOT.2008.4543712.


Toward Multi-Level Modeling of Robotic Sensor Networks: A Case Study in Acoustic Event Monitoring

C. M. Cianci; T. Lochmatter; J. Pugh; A. Martinoli 

2007. International Conference on Robot Communication and Coordination (ROBOCOMM), Athens, Greece, October 15-17, 2007. p. 1-8. DOI : 10.4108/ICST.ROBOCOMM2007.2275.

Parallel Learning in Heterogeneous Multi-Robot Swarms

J. Pugh; A. Martinoli 

2007. IEEE Congress on Evolutionary Computation 2007, Singapore, September 25-28. p. 3839-3846. DOI : 10.1109/CEC.2007.4424971.

Communication in a Swarm of Miniature Robots: The e-Puck as an Educational Tool for Swarm Robotics

C. M. Cianci; X. Raemy; J. Pugh; A. Martinoli 

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.

Inspiring and Modeling Multi-Robot Search with Particle Swarm Optimization

J. Pugh; A. Martinoli 

2007. IEEE Swarm Intelligence Symposium, Honolulu, Hawaii, USA, April 1-5, 2007. p. 332-339. DOI : 10.1109/SIS.2007.367956.

The Cost of Reality: Effects of Real-World Factors on Multi-Robot Search

J. Pugh; A. Martinoli 

2007. IEEE International Conference on Robotics and Automation, Rome, Italy, April 10-14, 2007. p. 397-404. DOI : 10.1109/ROBOT.2007.363819.


Applying Aspects of Multi-Robot Search to Particle Swarm Optimization

J. Pugh; L. Segapelli; A. Martinoli 

2006. International Workshop on Ant Colony Optimization and Swarm Intelligence, Brussels, Belgium, September 4-7, 2006. p. 506-507. DOI : 10.1007/11839088_54.

Small-Scale Robot Formation Movement Using a Simple On-Board Relative Positioning System

J. Pugh; A. Martinoli 

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.

Discrete Multi-Valued Particle Swarm Optimization

J. Pugh; A. Martinoli 

2006. IEEE Swarm Intelligence Symposium, Indianapolis, Indiana, USA, May 12-14. p. 103-110.

Multi-Robot Learning with Particle Swarm Optimization

J. Pugh; A. Martinoli 

2006. International Conference on Autonomous Agents and Multiagent Systems, Hakodate, Japan, May 8-12. p. 441-448. DOI : 10.1145/1160633.1160715.

Relative Localization and Communication Module for Small-Scale Multi-Robot Systems

J. Pugh; A. Martinoli 

2006. IEEE International Conference on Robotics and Automation, Miami, Florida, USA, May 15-19, 2006. p. 188-193. DOI : 10.1109/ROBOT.2006.1641182.


Particle swarm optimization for unsupervised robotic learning

J. Pugh; Y. Zhang; A. Martinoli 

2005. Swarm Intelligence Symposium, California, US, 8-10 June, 2005. p. 92-99. DOI : 10.1109/SIS.2005.1501607.