Publications de Guillaume Adrien Sartoretti

Intearcting Brownian Swarms: Some Analytical Results

Max-Olivier Hongler, Guillaume Adrien Sartoretti

We consider the dynamics of swarms of scalar Brownian agents subject to local imitation mechanisms implemented using mutual rank-based interactions. For appropriate values of the underlying control parameters, the swarm propagates tightly and the distances ...

MDPI AG2016

Distributed Planar Manipulation in Fluidic Environments

Guillaume Adrien Sartoretti

We present a distributed control mechanism allowing a swarm of non-holonomic autonomous surface vehicles (ASVs) to synchronously arrange around a rectangular floating object in a grasping formation; the swarm is then able to collaboratively transport the o ...

Ieee2016

Control of agent swarms in random environments

Guillaume Adrien Sartoretti

The collective dynamic behavior of large groups of interacting autonomous agents (swarms) have inspired much research in both fundamental and engineering sciences. It is now widely acknowledged that the intrinsic nonlinearities due to mutual interactions c ...

EPFL2016

Leader-Based versus Soft Control of Multi-Agent Swarms

Guillaume Adrien Sartoretti

We focus on the control of heterogeneous swarms of agents that evolve in a random environment. Control is achieved by introducing special agents: leader and infiltrated (shill) agents. A refined distinction is made between hidden and apparent controlling a ...

Springer2015

The estimation problem and heterogenous swarms of autonomous agents

Max-Olivier Hongler, Guillaume Adrien Sartoretti

2014

Decentralized Self-Selection of Swarm Trajectories: From Dynamical Systems to Robotic Implementation

Francesco Mondada, Max-Olivier Hongler, Guillaume Adrien Sartoretti, Marcelo Elias de Oliveira

In this paper, we present a distributed control strategy, enabling agents to converge onto and travel along a consensually selected curve among a class of closed planar curves. Individual agents identify the number of neighbors within a finite circular sen ...

Springer Verlag2014

Traffic Prediction Based on a Local Exchange of Information

Bastien Chopard, Guillaume Adrien Sartoretti

We propose a decentralized method for traffic monitoring, fully distributed over the vehicles. An algorithm is provided, specifying which information should be tracked to reconstruct an instantaneous map of traffic flow. We test the accuracy of our method ...

Old City Publishing Inc2013

Self-Organized Mixed Canonic-Disipative Dynamics for Brownian Planar Agents

Max-Olivier Hongler, Guillaume Adrien Sartoretti

2013

Soft control of swarms: Analytical approach

Max-Olivier Hongler, Guillaume Adrien Sartoretti

We analytically study the collective dynamics of mutually interacting heterogeneous agents evolving in a random environment. Our formal framework consists of a collection of JV scalar drifted Brownian motions (BM) diffusing on R. The mutual interactions ar ...

2013