Publications by Thomas Lochmatter

Method for Generating an HTML Document that Contains Encrypted Files and the Code Necessary for Decrypting Them When a Valid Passphrase is Provided

A computer implemented method for encrypting one or more files and wrapping them in an HTML document. The HTML document contains the encrypted files, the necessary code to decrypt the files, as well as user interface code to receive a passphrase input from ...

2015

A Plume Tracking Algorithm Based on Crosswind Formations

Alcherio Martinoli, Thomas Lochmatter, Inaki Navarro Oiza

We introduce a plume tracking algorithm based on robot formations. The algorithm is inherently designed for multi-robot systems, and requires at least two robots to collaborate. The robots try to keep themselves centered around the plume while moving upwin ...

Springer-Verlag Berlin2013

Wireless GPS-based phase-locked synchronization system for outdoor environment

Frédéric Meyer, Thomas Lochmatter, Alexander Bahr

Synchronization of data coming from different sources is of high importance in biomechanics to ensure reliable analyses. This synchronization can either be performed through hardware to obtain perfect matching of data, or post-processed digitally. Hardware ...

2012

A Plume Tracking Algorithm based on Crosswind Formations

Alcherio Martinoli, Thomas Lochmatter, Inaki Navarro Oiza, Ebru Aydin

2010

Bio-inspired and probabilistic algorithms for distributed odor source localization using mobile robots

Thomas Lochmatter

We compare six different algorithms for localizing odor sources with mobile robots. Three algorithms are bio-inspired and mimic the behavior of insects when exposed to airborne pheromones. Two algorithms are based on probability and information theory, and ...

EPFL2010

Tracking Odor Plumes in a Laminar Wind Field with Bio-Inspired Algorithms

Alcherio Martinoli, Thomas Lochmatter

We introduce a novel bio-inspired odor source localization algorithm (surge- cast) for environments with a main wind ﬂow and compare it to two well-known algorithms. With all three algorithms, systematic experiments with real robots are carried out in a wi ...

Springer2009

Theoretical Analysis of Three Bio-Inspired Plume Tracking Algorithms

Alcherio Martinoli, Thomas Lochmatter

We derive the theoretical performance of three bio-inspired odor source localization algorithms (casting, surge-spiral and surge-cast) in laminar wind flow. Based on the geometry of the trajectories and the wind direction sensor error, we calculate the dis ...

2009

Tracking an Odor Plume in a Laminar Wind Field with the Crosswind-Surge Algorithm

Alcherio Martinoli, Thomas Lochmatter

We introduce a novel bio-inspired odor source localization algorithm (surge-cast) for environments with a main wind flow and compare it to two well- known algorithms. With all three algorithms, systematic experiments with real robots are carried out in a w ...

2008

Understanding the Potential Impact of Multiple Robots in Odor Source Localization

Alcherio Martinoli, Thomas Lochmatter

We investigate the performance of three bio-inspired odor source localization algorithms used in non-cooperating multi-robot systems. Our performance metric is the distance overhead of the first robot to reach the source, which is a good measure for the sp ...

Springer-Verlag New York, Ms Ingrid Cunningham, 175 Fifth Ave, New York, Ny 10010 Usa2008

A Comparison of Casting and Spiraling Algorithms for Odor Source Localization in Laminar Flow

Alcherio Martinoli, Xavier Raemy, Thomas Lochmatter, Saurabh Indra

We compare two well-known algorithms for locating odor sources in environments with a main wind flow. Their plume tracking performance is tested through systematic experiments with real robots in a wind tunnel under laminar flow condition. We present the s ...

2008

Simulation Experiments with Bio-Inspired Algorithms for Odor Source Localization in Laminar Wind Flow

Alcherio Martinoli, Thomas Lochmatter

We compare three bio-inspired odor source localization algorithm (casting, surge-spiral and surge-cast) for environments with a main wind flow in simulation. The wind flow is laminar and the simulation setup similar to the setup in the wind tunnel in which ...

IEEE2008

SwisTrack - A Flexible Open Source Tracking Software for Multi-Agent Systems

Jacques Jacot, Alcherio Martinoli, Pierre Roduit, Thomas Lochmatter, Nicolaus Correll, Christopher Cianci

Vision-based tracking is used in nearly all robotic laboratories for monitoring and extracting of agent positions, orientations, and trajectories. However, there is currently no accepted standard software solution available, so many research groups resort ...

IEEE2008

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

Alcherio Martinoli, Thomas Lochmatter, Christopher Cianci, James Pugh

Modeling and simulation can be powerful tools for analyzing multi-agent systems, such as networked robotic systems and sensor networks. In this paper, it is shown concretely how instances of both these elements fit into a general methodology for multi-leve ...

2007