Publications by Ezequiel Leonardo Di Mario

Distributed Learning of Cooperative Robotic Behaviors using Particle Swarm Optimization

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

In this paper we study the automatic synthesis of robotic controllers for the coordinated movement of multiple mobile robots. The algorithm used to learn the controllers is a noise-resistant version of Particle Swarm Optimization, which is applied in two d ...

2016

Noise-Resistant Particle Swarm Optimization for the Learning of Robust Obstacle Avoidance Controllers using a Depth Camera

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

The Ranger robot was designed to interact with children in order to motivate them to tidy up their room. Its mechanical configuration, together with the limited field of view of its depth camera, make the learning of obstacle avoidance behaviors a hard pro ...

Ieee2016

Distributed Particle Swarm Optimization - Particle Allocation and Neighborhood Topologies for the Learning of Cooperative Robotic Behaviors

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

In this article we address the automatic synthesis of controllers for the coordinated movement of multiple mobile robots, as a canonical example of cooperative robotic behavior. We use five distributed noise-resistant variations of Particle Swarm Optimizat ...

2015

Distributed Particle Swarm Optimization using Optimal Computing Budget Allocation for Multi-Robot Learning

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

Particle Swarm Optimization (PSO) is a population-based metaheuristic that can be applied to optimize controllers for multiple robots using only local information. In order to cope with noise in the robotic performance evaluations, different re-evaluation ...

2015

Distributed Multi-Robot Learning using Particle Swarm Optimization

Ezequiel Leonardo Di Mario

This thesis studies the automatic design and optimization of high-performing robust controllers for mobile robots using exclusively on-board resources. Due to the often large parameter space and noisy performance metrics, this constitutes an expensive opti ...

EPFL2015

A Distributed Noise-Resistant Particle Swarm Optimization Algorithm for High-Dimensional Multi-Robot Learning

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

Population-based learning techniques have been proven to be effective in dealing with noise in numerical benchmark functions and are thus promising tools for the high-dimensional optimization of controllers for multiple robots with limited sensing capabili ...

2015

SwarmViz: An Open-Source Visualization Tool for Particle Swarm Optimization

Alcherio Martinoli, Inaki Navarro Oiza, Guillaume Stefan Jornod, Ezequiel Leonardo Di Mario

Particle Swarm Optimization (PSO) is a meta-heuristic for solving high dimensional optimization problems. Due to the large number of dimensions usually employed with PSO, it is not trivial to visualize and monitor the progress of the algorithm. Because of ...

2015

Distributed vs. Centralized Particle Swarm Optimization for Learning Flocking Behaviors

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

In this paper we address the automatic synthesis of controllers for the coordinated movement of multiple mobile robots. We use a noise-resistant version of Particle Swarm Optimization to learn in simulation a set of 50 weights of a plastic artificial neura ...

The MIT Press2015

Distributed Particle Swarm Optimization for limited-time adaptation with real robots

Alcherio Martinoli, Ezequiel Leonardo Di Mario

Evaluative techniques offer a tremendous potential for online controller design. However, when the optimization space is large and the performance metric is noisy, the overall adaptation process becomes extremely time consuming. Distributing the adaptation ...

2014

Distributed Particle Swarm Optimization for Limited Time Adaptation in Autonomous Robots

Alcherio Martinoli, Ezequiel Leonardo Di Mario

Evaluative techniques offer a tremendous potential for on-line controller design. However, when the optimization space is large and the performance metric is noisy, the time needed to properly evaluate candidate solutions becomes prohibitively large and, a ...

2014

Analysis of Fitness Noise in Particle Swarm Optimization: From Robotic Learning to Benchmark Functions

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

Population-based learning techniques have been proven to be effective in dealing with noise and are thus promising tools for the optimization of robotic controllers, which have inherently noisy performance evaluations. This article discusses how the result ...

2014

The Role of Environmental and Controller Complexity in the Distributed Optimization of Multi-Robot Obstacle Avoidance

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

The ability to move in complex environments is a fundamental requirement for robots to be a part of our daily lives. Increasing the controller complexity may be a desirable choice in order to obtain an improved performance. However, these two aspects may p ...

2014

The Effect of the Environment in the Synthesis of Robotic Controllers: A Case Study in Multi-Robot Obstacle Avoidance using Distributed Particle Swarm Optimization

Alcherio Martinoli, Inaki Navarro Oiza, Ezequiel Leonardo Di Mario

The ability to move in complex environments is a fundamental requirement for robots to be a part of our daily lives. While in simple environments it is usually straightforward for human designers to foresee the different conditions a robot will be exposed ...

MIT Press2013

A Comparison of PSO and Reinforcement Learning for Multi-Robot Obstacle Avoidance

Alcherio Martinoli, Ezequiel Leonardo Di Mario, Zeynab Talebpour

The design of high-performing robotic controllers constitutes an example of expensive optimization in uncertain environments due to the often large parameter space and noisy performance metrics. There are several evaluative techniques that can be employed ...

IEEE2013

A Trajectory-based Calibration Method for Stochastic Motion Models

Alcherio Martinoli, Grégory Mermoud, Ezequiel Leonardo Di Mario, Massimo Mastrangeli

In this paper, we present a quantitative, trajectory-based method for calibrating stochastic motion models of water-floating robots. Our calibration method is based on the Correlated Random Walk (CRW) model, and consists in minimizing the Kolmogorov-Smirno ...

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