Swarming MAV Networks II

Natural disasters can happen suddenly and may cause great damage in densely populated areas. In the case of an earthquake or a flood, the network infrastructure may get damaged, preventing survivors from calling for help and hampering cooperation between the survivors and search and rescue teams.

Within this context, the SMAVNET II project aims to easily and quickly deploy an aerial wireless network in urban environments using Micro Air Vehicles (MAVs).

Flying robots are of interest for such applications because they are fast, can easily overcome rough terrain and have direct line-of-sight communication between themselves and with ground users.

The requirements of the suggested applications impose some desired characteristics on the flying platforms. Firstly, the platforms should have adequate autonomy to serve the task. Secondly, the platforms should be user friendly so that the set-up and operation of the swarm does not require special skills. Finally, the robots should be robust to disturbances and have sufficiently long flight times.

For the multi-robot mission, we aim to apply a) swarming and b) networking algorithms: the swarming algorithm is used in robot cooperation and establishing robot-robot and robot-ground network connectivity. Complementary to the swarming is the networking algorithm which is involved in routing the communication between the robots and ground users.


There are numerous flying platforms available today. When making a choice for swarming network applications, we consider the following constraints:
User-friendliness: No special skills should be required to deploy or operate the swarm.
Safety and robustness: Flying platforms should not pose a danger for ground users, and should be able to withstand falls.
Size: Small size allows for easy transportation and setup of the swarm.

Autonomy: Flight autonomy is crucial to the success of a swarming network mission.

 To satisfy the above criteria and have a long flight time endurance, we decided to use the eBee (https://www.sensefly.com/drones/ebee.html). The eBee is a fixed wing flying platform of 600g, 1m wingspan, electrically powered, with a flight time up to 45min. We have connected a computer on module to run high-level controllers for swarming and add a wireless network capability, to the existing platform.

Swarming algorithms :

The LIS part of this project is to develop new algorithms for searching people on the ground and establish communication among them in a reliable and efficient way. We are inspired from what has been done so far in area coverage and in communication maintenance. We work towards finding the most suited algorithm to deal with both aspects at the same time. A complete simulation set-up (physics + controllers) has been set up so far allowing us to test our algorithms and get some statistics. We plan to run some outdoors experiments in the following weeks to check that the result we get in simulation were actually relevant.

Network algorithm :

We are collaborating with the LCM Laboratory. The LCM lab is responsible for developing new algorithms for the wireless network. Ideal case in a swarming network is one whe every single node should be connected to at least one other node in order to get a chain from every node to any other node. The main challenge of this part is to cope with the fast change of the network topology. This challenge arises from the high minimal speed (60km/h) of the fixed-wing flying platform and is further complicated by the fact that users on the ground are mobile. Finally, we need to ensure that the mission time of the swarm can exceed the flight time endurance. The LCM lab has demonstrated an improvement over the existing network algorithm by using the relative speed between robots to predict how the link between them should change before it breaks. 



Lipschitz constant estimation for Neural Networks via sparse polynomial optimization

F. Latorre; P. T. Y. Rolland; V. Cevher 

2020-04-26. 8th International Conference on Learning Representations, Addis Ababa, ETHIOPIA, April 26-30, 2020.

Monitoring biodiversity in the Anthropocene using remote sensing in species distribution models

C. F. Randin; M. B. Ashcroft; J. Bolliger; J. Cavender-Bares; N. C. Coops et al. 

Remote Sensing of Environment. 2020-03-15. Vol. 239, p. 111626. DOI : 10.1016/j.rse.2019.111626.

Are Cloud FPGAs Really Vulnerable to Power Analysis Attacks ?

O. Glamocanin; L. Coulon; F. Regazzoni; M. Stojilovic 

2020-03-09. Design, Automation and Test in Europe (DATE), Grenoble, France, March 9-13, 2020.

Built-in Self-Evaluation of First-Order Power Side-Channel Leakage for FPGAs

O. Glamocanin; L. Coulon; F. Regazzoni; M. Stojilovic 

2020-02-23. 28th ACM/SIGDA International Symposium on Field-Programmable Gate Arrays (FPGA 2020), Seaside, California, USA, February 23-25, 2020. DOI : 10.1145/3373087.3375318.

Closing Leaks: Routing Against Crosstalk Side-Channel Attacks

Z. Seifoori; S. S. Mirzargar; M. Stojilovic 

2020-02-23. 28th ACM/SIGDA International Symposium on Field-Programmable Gate Arrays (FPGA 2020), Seaside, California, USA, February 23-25, 2020. DOI : 10.1145/3373087.3375319.

Surface roughness evolution in atomistic simulations of adhesive wear: from asperity collision to three-body configuration

E. Milanese; Aghababaei Ramin; T. Brink; J-F. Molinari 

Modeling tribology: friction and fracture across scales – CECAM-EPFL 2020, Lausanne, Switzerland, 2019, January 28–30.

SATURATIONS Individus, collectifs, organisations et territoires à l’épreuve

M. Antonioli; G. Drevon; L. Gwiazdzinski; V. Kaufmann; L. Pattaroni 

Grenoble: Elya éditions, 2020-01-22.

Digital Design with Implicit State Machines

F. Liu; A. Prokopec; M. Odersky 


Finite-Level Quantization Procedures for Construction and Decoding of Polar Codes

Y. Inan; E. Telatar 


Le coût de freiner le réchauffement et le coût de ne rien faire / Die Kosten für die Eindämmung der Erwärmung und die Kosten, nichts zu tun

P. Thalmann 

32ème séminaire ch “Gouverner aujourd’hui”, Interlaken, Switzerland, January 10, 2020.

MATHICSE Technical Report : A Multilevel Stochastic Gradient method for PDE-constrained Optimal Control Problems with uncertain parameters

M. C. Martin; F. Nobile; P. Tsilifis 


MATHICSE Technical Report : Sparse Polynomial Chaos expansions using Variational Relevance Vector Machines

P. Tsilifis; I. Papaioannou; D. Straub; F. Nobile 


Celsius: A Model for Safe Initialization of Objects

F. Liu; A. Biboudis; Paolo G. Giarrusso; M. Odersky 


A Type-and-Effect System for Object Initialization

F. Liu; O. Lhoták; A. Biboudis; M. Odersky 


Stoic: Towards Disciplined Capabilities

F. Liu; S. Stucki; N. Amin; P. G. Giarrusso; M. Odersky 


A Shared-Memory Parallel Implementation of the RePlAce Global Cell Placer

F. Gessler; P. Brisk; M. Stojilovic 

2020-01-08. 33rd International Conference on VLSI Design and 19th International Conference on Embedded Systems (VLSID), Bangalore, India, January 4-8, 2020.

Assessment of Climate Agreements over the Long Term with Strategic Carbon Dioxyde Removal

F. L. F. Babonneau; A. Haurie; M. Vielle 


Aqueous organic and redox-mediated redox flow batteries : A Review

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Current Opinion in Electrochemistry. 2020-01-07. DOI : 10.1016/j.coelec.2019.12.006.

Mobilité réversible et sociétés contemporaines

V. Kaufmann 

Conférénce pour le vicariat épiscopal de Fribourg, Fribourg, 22 janvier 2020.

Investigating Scrape-Off Layer transport in alternative divertor geometries on the TCV tokamak

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Lausanne, EPFL, 2020. 

Study of brain metabolic dysfunctions in animal models of mood disorder using magnetic resonance spectroscopy

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Beyond the patch: on landscape-explicit metapopulation dynamics

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In vivo evaluation of gene editing and prosthetic strategies to restore vision in small and large animal models of retinal degeneration

P. Vagni / D. Ghezzi (Dir.)  

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Sparse and Parametric Modeling with Applications to Acoustics and Audio

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Lausanne, EPFL, 2020. 

Copper battery for heat to power conversion and energy storage

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Sweat monitoring with CMOS compatible technology: ISFETS and beyond

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Atomistic modeling of the solid-liquid interface of metals and alloys

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Personalizable intervention systems to promote healthy behavior change

I. Kulev / B. Faltings; P. Pu Faltings (Dir.)  

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Ultrafast X-ray Spectroscopy of Heme Proteins

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Construction of MOF/Polymer Composites for Metal Ion Capture

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On Smart-Buildings and their Integration into the Smart-Grid

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Structure and reactivity of the polarised liquid–liquid interface: what we know and what we do not

G. C. Gschwend; A. Olaya; P. Peljo; H. H. Girault 

Current Opinion in Electrochemistry. 2020. Vol. 19, p. 137-143. DOI : 10.1016/j.coelec.2019.12.002.

Surface functionalization of metal oxide harmonic nanoparticles for targeted cancer imaging

R. J. De Matos / S. Gerber; L. Bonacina (Dir.)  

Lausanne, EPFL, 2020. 

Lactate enhancing compounds and uses thereof

P. Magistretti; S. Lengacher; C. Finsterwald 



On the optimal sampling design for the Graph Total Variation decoder: recovering piecewise-constant graph signals from a few vertex measurements

R. Cerqueira Gonzalez Pena / P. Vandergheynst (Dir.)  

Lausanne, EPFL, 2020. 

Computing Cyclic Isogenies between Principally Polarized Abelian Varieties over Finite Fields

M. L. Vuille / D. P. Jetchev (Dir.)  

Lausanne, EPFL, 2020. 

In vitro modeling of early mouse development

M. U. Girgin / M. Lütolf (Dir.)  

Lausanne, EPFL, 2020. 

Point, Plane, Set, Match! Winning the Echo Grand SLAM

M. Krekovic / M. Vetterli; I. Dokmanic (Dir.)  

Lausanne, EPFL, 2020. 

Synthesis and characterization of iron-clathrochelates and their applications in materials science

J. L. Bila / K. Severin (Dir.)  

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Functional de novo Protein Design for Targeted Vaccines and Synthetic Biology Applications

C. Yang / B. E. Ferreira De Sousa Correia (Dir.)  

Lausanne, EPFL, 2020. 

Novel Analytical Methods for Allergy-Related Studies

M. Frossard / H. Girault; N. Gasilova (Dir.)  

Lausanne, EPFL, 2020. 

Bridging scales in wear modeling with volume integral methods for elastic-plastic contact

L. H. G. Frérot / J-F. Molinari; G. Anciaux (Dir.)  

Lausanne, EPFL, 2020. 

Essays in Financial Economics

M. A. Frattaroli / R. Fahlenbrach (Dir.)  

Lausanne, EPFL, 2020. 

Non-Exponential Variations for Classical Results in First Passage Percolation

J. Saliba / T. Mountford; J-C. Mourrat (Dir.)  

Lausanne, EPFL, 2020. 

Metabolic and hemodynamic changes in the activated human brain and cerebellar organisation measured by MRS/MRl at 7 Tesla

Y. Boillat / R. Gruetter (Dir.)  

Lausanne, EPFL, 2020. 

Small scale very high speed slotless permanent magnet motors

G. P-A. Burnand / Y. Perriard (Dir.)  

Lausanne, EPFL, 2020. 

Bioengineering Methods to Improve in vitro Adoptive Cell Therapy based on Tumor-Infiltrating Lymphocytes

F. R. Rivest / M. Lütolf; L. L. Sohn (Dir.)  

Lausanne, EPFL, 2020. 

Inkjet printing of soft machines

S. Schlatter / H. Shea; S. Rosset (Dir.)  

Lausanne, EPFL, 2020. 

Accelerating Gradient Boosting Machine

S. P. R. Karimireddy; H. Lu; N. Ponomareva; V. Mirrokni 

2020. 23rd International Conference on Artificial Intelligence and Statistics, Palermo, Sicily, Italy, June 3 – 5, 2020.

On the Relationship between Self-Attention and Convolutional Layers

J-B. Cordonnier; A. Loukas; M. Jaggi 

2020. Eighth International Conference on Learning Representations – ICLR 2020, Addis Ababa, Ethiopia, April 26-30, 2020.

Le futur de la mobilité en Suisse

V. Kaufmann 

Einführungsanlass für neu gewählte Bundes-Parlamentarierinnen und -Parlamentarier, Gerzensee, 9 janvier 2020.

Evaluating the search phase of neural architecture search

K. Yu; C. Suito; M. Jaggi; C-C. Musat; M. Salzmann 

2020. ICRL 2020 Eighth International Conference on Learning Representations, Millennium Hall, Addis Ababa, ETHIOPIA, April 26-30, 2020.

Domain-Adaptive Multibranch Networks

R. Bermúdez Chacón; M. Salzmann; P. Fua 

2020. 8th International Conference on Learning Representations, Addis Ababa, Ethiopia, April 26-30, 2020.

Dynamic Thermal Management with Proactive Fan Speed Control Through Reinforcement Learning

A. Iranfar; F. Terraneo; G. Csordas; M. Zapater Sancho; W. Fornaciari et al. 

2020. Design, Automation, and Test in Europe – DATE2020, Grenoble, France, March 9-13, 2020.

An Event-Based System for Low-Power ECG QRS Detection

S. Zanoli; T. Teijeiro; F. Montagna; D. Atienza Alonso 

2020. DATE 2020 – Design, Automation & Test In Europe Conference & Exhibition, Grenoble, France, March 9-13, 2020.

DeepFocus: a Few-shot Microscope Slide Auto-Focus using a Sample Invariant CNN-based Sharpness Function

A. Shajkofci; M. Liebling 

2020. International Symposium on Biomedical Imaging.

Supplementary Material – AL2: Progressive Activation Loss for Learning General Representations in Classification Neural Networks

M. El Helou; F. Dümbgen; S. Süsstrunk 


RRAM-VAC: A Variability-Aware Controller for RRAM-based Memory Architectures

S. Tuli; M. A. Rios; A. S. J. Levisse; D. Atienza Alonso 

2020. 25th Asia and South Pacific Design Automation Conference ASP-DAC 2020, Beijing China, January 13-16, 2020.

Digital Transformation and Business Model Innovation in the Film Industry: The Case of Movieday.it

A. Solidoro; G. Viscusi 

Technology and Creativity Production, Mediation and Evaluation in the Digital Age; Palgrave Macmillan, 2020-01-01. p. 239-265.

Understanding multimodality through rhythm of life. An empirical evidence from the Swiss case study.

G. Drevon; A. Gumy 

Handbook of urban mobilities; Routledge, 2020-01-01.


Recent advances with optical upconverters made from all-organic and hybrid materials

R. Hany; M. Cremona; K. Strassel 

Science And Technology Of Advanced Materials. 2019-12-31. Vol. 20, num. 1, p. 497-510. DOI : 10.1080/14686996.2019.1610057.

Robust Distributed Learning and Robust Learning Machines (Research Statement)

E. M. El Mhamdi 


MATHICSE Technical Report: BPX for Isogeometric Analysis Using (Truncated) Hierarchical B-splines

C. Bracco; D. Cho; C. Giannelli; R. Vazquez Hernandez 


Flavia Marcacci, Cieli in contraddizione: Giovanni Battista Riccioli e il terzo sistema del mondo. Perugia: Aguaplano, 2018. Pp. 257. ISBN 978-8-8858-0311-4. €20.00 (paperback).

S. D. Primbault 

The British Journal for the History of Science. 2019-12-19. Vol. 52, num. 4, p. 707-709. DOI : 10.1017/S0007087419000694.

MATHICSE Technical Report : Function integration, reconstruction and approximation using rank-1 lattices

F. Kuo; G. Migliorati; F. Nobile; D. Nuyens 


Autophagy and LRRK2 in the Aging Brain

F. Albanese; S. Novello; M. Morari 

Frontiers In Neuroscience. 2019-12-17. Vol. 13, p. 1352. DOI : 10.3389/fnins.2019.01352.

Critical Infrastructure Resilience: Lessons from Insurance

M-V. Florin; R. Sachs 


DeepWave: A Recurrent Neural-Network for Real-Time Acoustic Imaging

M. M. J-A. Simeoni; S. Kashani; P. Hurley; M. Vetterli 

2019-12-16. Thirty-third Conference on Neural Information Processing Systems (NeurIPS), Vancouver, British Columbia, Canada, December 9-14, 2019.

Optimization Notes

S. Kashani 


Value Creation in Precision Medicine: Acknowledging the Need to Devise New Ways to Measure. The Value of Healthcare

A. Nursimulu 


Forged Authenticity: Governing Deepfake Risks

A. Collins 


Analyse exploratoire des contributions au Grand débat national, volet mobilité

M. A. Messer; S. Utz; D. Moreau 


Digital Governance Drivers and Challenges for Resilience in AI-Driven Innovation of Public Sector

G. Misuraca; G. Viscusi 

2019 Pre-ICIS Workshop on e-Government – Critical Questions in Public Sector IT: Outlining a Collaborative Research Agenda, Co-sponsored by AIS SIG eGovernment and The Digital Government Society, Munich, Germany, December 15, 2019.

Crowd dynamics, Co-creation, and Values in technology innovation: A case study in robotics infrastructures

G. Viscusi 

International Conference on Information Systems (ICIS) 2019, Munich, Germany, December 15-18, 2019.

A Viewport-driven Multi-metric Fusion Approach for 360-Degree Video Quality Assessment

R. G. De Albuquerque Azevedo; N. Birkbeck; I. Janatra; B. Adsumilli; P. Frossard 


MATHICSE Technical Report : Overlapping Multi-Patch Isogeometric Method with Minimal Stabilization

P. Antolin Sanchez; A. Buffa; R. Puppi; X. Wei 


Research approaches for investigating the interactions between architectural design and sustainability transitions

E. Rey 

Doctoral program Architecture and Sciences of the City (EDAR), EPFL, Lausanne, Switzerland,

A machine learning approach for power gating the FPGA routing network

S. Zeinab; H. Asadi; M. Stojilovic 

2019-12-11. 2019 International Conference on Field-Programmable Technology (ICFPT), Tianjin, China, December 9-13, 2019.

Learning Feature Maps of the Koopman Operator: A Subspace Viewpoint

Y. Lian; C. Jones 

2019-12-11. The 58th IEEE Conference on Decision and Control, Nice, France, December 11th-13th 2019.

What is the ‘spectral diet’ of humans?

F. S. Webler; M. Spitschan; R. G. Foster; M. Andersen; S. N. Peirson 

Current Opinion In Behavioral Sciences. 2019-12-01. Vol. 30, p. 80-86. DOI : 10.1016/j.cobeha.2019.06.006.

Non-intrusive reduced-order modeling for fluid problems: A brief review

J. Yu; C. Yan; M. Guo 

Proceedings Of The Institution Of Mechanical Engineers Part G-Journal Of Aerospace Engineering. 2019-12-01.  p. UNSP 0954410019890721. DOI : 10.1177/0954410019890721.

High amounts of antibiotic resistance genes and Class I integrons are disseminated in rivers of the Mekong delta (Viet Nam) from the effluents of intensive shrimp farms

T. T. H. Pham; K. D. H. Dang; E. Rohrbach; F. Breider; P. Rossi 

Green Technologies for Sustainable Water (GTSW) 2019, Ho Chi Minh Ville, Vietnam, December 1-5, 2019.

Implementation of a constructed wetland for the sustainable treatment of water in shrimp farming activities, Mekong delta, Vietnam

T. T. H. Pham; V. Cochevelou; K. D. H. Dang; F. Breider; P. Rossi 

Green Technologies for Sustainable Water (GTSW) 2019, Ho Chi Minh VIlle, Vietnam, December 1-5, 2019.

Current Developments in Biotechnology and Bioengineering: Resource Recovery from Wastes

S. Varjani; A. Pandey; E. Gnansounou; S. K. Khanal; S. Raveendran 

Elsevier, 2019-11-30.

Grassroots Urbanism: Community involvement and Participation towards the Making of the City. Innovative research processes in India and Canada

Y. Pedrazzini 


Comparaison des méthodes linéaires et non linéaires pour la justification au séisme du barrage de Chancy-Pougny

M. Ferrière; J-P. Person; H. Charif; S. Rossier; P. Lestuzzi 

Colloque CFBR 2019: “Justification des barrages: Etat de l’art et Perspectives”, Chambéry, France,

Le fabuleux chantier: Rendre l’intelligence artificielle robustement bénéfique

L. N. Hoang; E. M. El Mhamdi 

EDP Sciences, 2019-11-28.

La politique “datas” de la collectivité

J-F. Lucas 

Smart City Tour à Antony, Antony, France, November 28, 2019.

Une approche intégrée pour évaluer et surveiller la déchloration réductive d’éthènes chlorés dans des aquifères contaminés – Evaluation de la traitabilité et surveillance d’un site

S. E. Tarnawski; P. Rossi; C. Holliger 

Quatrièmes Rencontres nationales de la Recherche sur les sites et sols pollués, Le Beffroi de Montrouge, Portes de Paris, France, November 26-27, 2019.

Implantable Neural Interfaces and Wearable Tactile Systems for Bidirectional Neuroprosthetics Systems

A. Cutrone; S. Micera 

Advanced Healthcare Materials. 2019-11-25.  p. 1801345. DOI : 10.1002/adhm.201801345.

Functionality Enhanced Memories for Edge-AI Embedded Systems

A. S. J. Levisse; M. A. Rios; W. A. Simon; P-E. J. M. Gaillardon; D. Atienza Alonso 

2019-11-25. Non-Volatile Memory Technology Symposium 2019, Durham, North Carolina, USA, October 28-30, 2019.

Fragility curves for two specific building types in Switzerland

A. Khodaverdian; P. Lestuzzi 

17th Swiss Geoscience Meeting SGM2019, Fribourg, 22nd + 23rd November 2019.

The effects of slide cohesion on impulse waves generated by landslides

Z. Meng; C. Ancey 

17th Swiss Geoscience Meeting (SGM2019), Fribourg, 22th+23th November 2019.

Mécanologie et phénoménotechnique au Commissariat à l’Énergie atomique et aux Énergies renouvelables

Y. M. F. Guffroy 

Séminaire “L’expérience des techniques : collections, reconstitutions, savoirs et savoir-faire”, Université de Paris, Paris, France, November 22, 2019.

Collaborative Sampling in Generative Adversarial Networks

Y. Liu; P. A. Kothari; A. Alahi 

2019-11-22. Thirty-Fourth AAAI Conference on Artificial Intelligence (AAAI-20), New York, New York, USA, February 7-12, 2020.

Vienna’s Höfe: How Housing Builds the Collective

A. Porotto 

AHRA 2019 Architecture and Collective Life, University of Dundee, Dundee, UK, November 21-23, 2019.

Wind profile prediction in an urban canyon: a machine learning approach

D. Mauree; R. Castello; G. Mancini; T. Nutta; T. Zhang et al. 

2019-11-20. DOI : 10.1088/1742-6596/1343/1/012047.

Geospatial analysis and optimization of the incoming and stored CO2 emissions within the EPFL campus

G. Mori; S. Coccolo; R. Castello; J-L. Scartezzini 

2019-11-20. CISBAT 2019 | Climate Resilient Cities – Energy Efficiency & Renewables in the Digital Era, Lausanne, Switzerland, 4-6 September 2019. DOI : 10.1088/1742-6596/1343/1/012118.

Deep learning in the built environment: automatic detection of rooftop solar panels using Convolutional Neural Networks

R. Castello; S. Roquette; M. Esguerra; A. Guerra; J-L. Scartezzini 

2019-11-20. CISBAT 2019 | Climate Resilient Cities – Energy Efficiency & Renewables in the Digital Era, Lausanne, Switzerland, 4–6 September 2019. DOI : 10.1088/1742-6596/1343/1/012034.