EPFL ENAC IIE DISAL
GR A2 454 (Building GR)
Phone: +41 21 693 68 91
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 an Associate 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. More information about me can be found in the following:
Topics of Interest
My research interests focus on methods to design, control, model, 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 modeling and computational techniques. Our research output ranges from fundamental, methodological aspects to more applied contributions, often associated with application areas of interest in my school, especially in environmental and civil engineering. More information about the research of my laboratory can be found here.
Teaching and Service Activities
I am teaching at all levels (bachelor, master and doctoral) at EPFL. Additional details about our courses and student projects can be found here. I am involved in a variety of service activities within EPFL and worldwide; among those, I served for seven years as Director of the Doctoral Program in Robotics, Control, and Intelligent Systems. Additional details can be found in my full CV.
The list of my publications is getting longer and longer as I essentially co-author all the publications produced by my laboratory. If you are looking for one specific publication, I suggest you to run a search on our open-access EPFL repository. If instead you would like to have an overview, here below you will find all the publications, listed in a yearly descending order.
Towards Efficient Gas Leak Detection in Built Environments: Data-Driven Plume Modeling for Gas Sensing Robots2023-06-03. 2023 IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, May 29 – June 2, 2023. DOI : 10.1109/ICRA48891.2023.10160816.
Information-Driven Gas Distribution Mapping for Autonomous Mobile RobotsSensors. 2023-06-01. Vol. 23, num. 12, p. 5387. DOI : 10.3390/s23125387.
A Distributed Architecture for Onboard Tightly-Coupled Estimation and Predictive Control of Micro Aerial Vehicle Formations2022-11-29. International Symposium on Distributed Autonomous Robotic Systems, Montbeliard, France, November 28-30, 2022.
Hybrid Flock – Formation Control Algorithms2022. The 16th International Symposium on Distributed Autonomous Robotic Systems, Montbéliard, France, November 28-30, 2022.
Leveraging Multi-Level Modelling to Automatically Design Behavioral Arbitrators in Robotic Controllers2022. 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.
Online Kinematic and Dynamic Parameter Estimation for Autonomous Surface and Underwater Vehicles2021-09-27. 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 Localization2021-09-27. 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.
Nonlinear Model Predictive Control for Formations of Multi-Rotor Micro Aerial Vehicles: An Experimental Approach2021-03-28. 17th International Symposium on Experimental Robotics (ISER 2020), Floriana, Malta, November 15-18, 2021. p. 449-461. DOI : 10.1007/978-3-030-71151-1_40.
3D Odor Source Localization Using a Micro Aerial Vehicle: System Design and Performance Evaluation2020. 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.
Decentralized Nonlinear Model Predictive Control for 3D Formation of Multirotor Micro Aerial Vehicles with Relative Sensing and Estimation2019-11-14. 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.
Design and Calibration of a Lightweight Physics-Based Model for Fluid-Mediated Self-Assembly of Robotic Modules2019. 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 Noise2019. 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.
Towards Institutions for Mixed Human-Robot Societies2018-01-01. 17th International Conference on Autonomous Agents and MultiAgent Systems (AAMAS), Stockholm, SWEDEN, Jul 10-15, 2018. p. 2216-2217.
Distributed Autonomous Robotic Systems, 13th International Symposium2018.
Design and Performance Evaluation of an Infotaxis-Based Three-Dimensional Algorithm for Odor Source Localization2018. 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 Institutions for Mixed Human-Robot Societies2018. 7th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2018), Stockholm, Sweden, July 10–15, 2018. p. 2216-2217.
An Institutional Robotics Approach to the Design of Socially Aware Multi-Robot Behaviors2017. 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.
A 3-D Bio-inspired Odor Source Localization and its Validation in Realistic Environmental Conditions2017. 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.
Market-based Coordination in Dynamic Environments Based on Hoplites Framework2017. 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-study2017. The International Conference on Indoor Positioning and Indoor Navigation (IPIN 2017), Sapporo, Japan, September 18-21, 2017. DOI : 10.1109/IPIN.2017.8115905.
Challenges for Automated Cooperative Driving: The AutoNet2030 ApproachAutomated Driving; Switzerland: Springer International Publishing, 2017. p. 561-570.
Extending Urban Air Quality Maps Beyond the Coverage of a Mobile Sensor Network: Data Sources, Methods, and Performance Evaluation2017. International Conference on Embedded Wireless Systems and Networks (EWSN), Uppsala, Sweden, February 20-22, 2017. p. 12–23.
Distributed Formation Control of Quadrotors under Limited Sensor Field of View2016. 15th International Conference on Autonomous Agents and Multiagent Systems, Singapore, May 9-13, 2016. p. 1087-1095.
On-Board Vision-Based 3D Relative Localization System for Multiple Quadrotors2016. 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.
Cooperative Multiple Dynamic Object Tracking on Moving Vehicles Based on Sequential Monte Carlo Probability Hypothesis Density Filter2016. IEEE International Conference on Intelligent Transportation Systems, Rio de Janeiro, Brazil, November 2016. p. 2163-2170. DOI : 10.1109/ITSC.2016.7795906.
Incorporating Perception Uncertainty in Human-Aware Navigation: A Comparative Study2016. 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.
Characterization and Validation of a Novel Robotic System for Fluid-Mediated Programmable Stochastic Self-Assembly2016. IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, October 9-14, 2016. p. 2778-2783. DOI : 10.1109/IROS.2016.7759431.
Towards 3-D Distributed Odor Source Localization: An Extended Graph-Based Formation Control Algorithm for Plume Tracking2016. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, October 9-14, 2016. DOI : 10.1109/IROS.2016.7759277.
Mitigating Slow Dynamics of Low-Cost Chemical Sensors for Mobile Air Quality Monitoring Sensor Networks2016. International Conference on Embedded Wireless Systems and Networks, Graz, Austria, 2016. p. 159–167.
Distributed Particle Swarm Optimization – Particle Allocation and Neighborhood Topologies for the Learning of Cooperative Robotic Behaviors2015. 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.
Experimental Validation of the Wing-Aileron-Tab Combination Applied to an Actively Controlled Bridge Section Model2015. 14th International Conference on Wind Engineering, Porto Alegre, Brazil, June 21-26, 2015.
A Collaborative Sensor Fusion Algorithm for Multi-Object Tracking Using a Gaussian Mixture Probability Hypothesis Density Filter2015. IEEE International Conference on Intelligent Transportation Systems, Las Palmas de Gran Canaria, Spain, September 2015. p. 491-498. DOI : 10.1109/ITSC.2015.87.
Network of automated vehicles: The AutoNet2030 vision2014. 21st World Congress on Intelligent Transport Systems, Detroit, Michigan, USA, September 7-11, 2014.
An Experimental Study in Wireless Connectivity Maintenance Using up to 40 Robots Coordinated by an Institutional Robotics Approach2013. IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, November 3-8, 2013. p. 5073-5079. DOI : 10.1109/IROS.2013.6697090.
Three-dimensional SU-8 microtiles for fluidic self-assembly2013. 39th International Conference on Micro and Nano Engineering (MNE 2013), London, 16-19 September 2013.
The Effect of the Environment in the Synthesis of Robotic Controllers: A Case Study in Multi-Robot Obstacle Avoidance using Distributed Particle Swarm Optimization2013. 12th European Conference on Artificial Life, Taormina, Italy, September 2-6, 2013. p. 561-568. DOI : 10.7551/978-0-262-31709-2-ch081.
Distributed spatiotemporal suppression for environmental data collection in real-world sensor networks2013. 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.
Distributed Autonomous Robotic SystemsBerlin Heidelberg: Springer, 2013.
Self-Organized Robotic Systems: Large-Scale Experiments in Aggregation and Self-Assembly using Miniature RobotsHandbook of Collective Robotics; Singapore: Pan Stanford Publishing, 2013. p. 229-259.
A general methodology for the control of mixed natural-artificial societiesHandbook of Collective Robotics; Singapore: Pan Stanford Publishing, 2013. p. 547-586.
A Flexible In Situ Power Monitoring Unit for Environmental Sensor NetworksWorkshop on Robotics for Environmental Monitoring (IROS 2012), Vilamoura, Portugal, October 7, 2012.
Containers assembled in fluid and corresponding production
US2012145572; WO2010122499; WO2010122499.2011.