Publications by Ali Marjovi | EPFL Graph Search

Particle Source Localization with a Low-Cost Robotic Sensor System: Algorithmic Design and Performance Evaluation

Alcherio Martinoli, Ali Marjovi, Jian Huang, Xinxing Chen

In this paper we tackle the problem of finding the source of particulate matter with a mobile robot equipped with a low-cost multi-channel optical particle counting sensor. The proposed method is based on the Infotaxis odor source localization algorithm an ...

2020

An Algorithm for Odor Source Localization based on Source Term Estimation

Alcherio Martinoli, Ali Marjovi, Faezeh Rahbar

Finding sources of airborne chemicals with mobile sensing systems finds applications across the security, safety, domestic, medical, and environmental domains. In this paper, we present an algorithm based on source term estimation for odor source localizat ...

IEEE2019

Design and Performance Evaluation of an Algorithm Based on Source Term Estimation for Odor Source Localization

Alcherio Martinoli, Ali Marjovi, Faezeh Rahbar

Finding sources of airborne chemicals with mobile sensing systems finds applications across safety, security, environmental monitoring, and medical domains. In this paper, we present an algorithm based on Source Term Estimation for odor source localization ...

2019

Design and Performance Evaluation of an Infotaxis-Based Three-Dimensional Algorithm for Odor Source Localization

Alcherio Martinoli, Ali Marjovi, Faezeh Rahbar, Julian Ruddick

In this paper we tackle the problem of finding the source of a gaseous leak with a robot in a three-dimensional (3-D) physical space. The proposed method extends the operational range of the probabilistic Infotaxis algorithm [1] into 3-D and makes multiple ...

IEEE2018

A 3-D Bio-inspired Odor Source Localization and its Validation in Realistic Environmental Conditions

Alcherio Martinoli, Pierre Charles Marie Kibleur, Ali Marjovi, Faezeh Rahbar

Finding the source of gaseous compounds released in the air with robots finds several applications in various critical situations, such as search and rescue. While the distribution of gas in the air is inherently a 3D phenomenon, most of the previous works ...

2017

Adaptive Lévy Taxis for Odor Source Localization in Realistic Environmental Conditions

Alcherio Martinoli, Romain Jean-Paul Emery, Ali Marjovi, Faezeh Rahbar

Odor source localization with mobile robots has recently been subject to many research works, but remains a challenging task mainly due to the large number of environmental parameters that make it hard to describe gas concentration fields. We designed a ne ...

2017

Extending Urban Air Quality Maps Beyond the Coverage of a Mobile Sensor Network: Data Sources, Methods, and Performance Evaluation

Alcherio Martinoli, Adrian Arfire, Ali Marjovi

Targeting the problem of generating high-resolution air quality maps for cities, we leverage four different sources of data: (i) in-situ air quality measurements produced by our mobile sensor network deployed on public transportation vehicles, (ii) explana ...

2017

Mitigating Slow Dynamics of Low-Cost Chemical Sensors for Mobile Air Quality Monitoring Sensor Networks

Alcherio Martinoli, Adrian Arfire, Ali Marjovi

The last decade has seen a growing interest in air quality monitoring using networks of wireless low-cost sensor platforms. One of the unifying characteristics of chemical sensors typically used in real-world deployments is their slow response time. While ...

2016

Towards 3-D Distributed Odor Source Localization: An Extended Graph-Based Formation Control Algorithm for Plume Tracking

Alcherio Martinoli, Jonathan Giezendanner, Anil Augustin Kodiyan, Jorge Miguel Dias Almeida Rodrigues Soares, António Pedro Rodrigues de Aguiar, Ali Marjovi

The large number of potential applications for robotic odor source localization has motivated the development of a variety of plume tracking algorithms, the majority of which work in restricted two-dimensional scenarios. In this paper, we introduce a distr ...

IEEE2016

Enhancing Measurement Quality through Active Sampling in Mobile Air Quality Monitoring Sensor Networks

Alcherio Martinoli, Adrian Arfire, Ali Marjovi

In recent years, a growing number of research groups have targeted the development and deployment of networks using low-cost chemical sensors for monitoring air quality. Due to economical reasoning, most of these systems make use of some sort of mobility t ...

IEEE2016

High Resolution Air Pollution Maps in Urban Environments Using Mobile Sensor Networks

Alcherio Martinoli, Adrian Arfire, Ali Marjovi

We propose three modeling methods using a mobile sensor network to generate high spatio-temporal resolution air pollution maps for urban environments. In our deployment in Lausanne (Switzerland), dedicated sensing nodes are anchored to the public buses and ...

IEEE2015

Distributed Graph-based Convoy Control for Networked Intelligent Vehicles

Alcherio Martinoli, Milos Vasic, Joseph Chadi Benoit Lemaitre, Ali Marjovi

This paper presents an approach for formation control of multi-lane vehicular convoys in highways. We extend a Laplacian graph-based, distributed control law such that networked intelligent vehicles can join or leave the formation dynamically without jeopa ...

IEEE2015

Model-based Rendezvous Calibration of Mobile Sensor Networks for Monitoring Air Quality

Alcherio Martinoli, Adrian Arfire, Ali Marjovi

Mobile Wireless Sensor Networks (WSNs) hold the potential to constitute a real game changer for our understanding of urban air pollution, through a significant augmentation of spatial resolution in measurement. However, temporal drift, crosssensitivity and ...

2015

Network of automated vehicles: The AutoNet2030 vision

Alcherio Martinoli, Jean Grégoire, Ali Marjovi, Arnaud de La Fortelle

AutoNet2030 – Co-operative Systems in Support of Networked Automated Driving by 2030 – is a European project connecting two domains of intensive research: cooperative systems for Intelligent Transportation Systems and Automated Driving. Given the latest de ...

2014

A climbing robot for inspection of 3D human made structures

Ali Marjovi

3DCLIMBER is a running project in the University of Coimbra for developing a climbing robot with the capability of manipulating over 3D human-made structures. This paper mainly discuss the conceptual and detailed design and development of a Pole Climbing r ...

IEEE2008