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Giovanni BeltrameDepartment of Computer Engineering and Software Engineering
Profile in the Directory of Experts of Polytechnique Montréal
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Agha, A., Otsu, K., Morrell, B., Fan, D., Thakker, R., Santamaria-Navarro, A., Kim, S.-K., Bouman, A., Lei, X., Edlund, J., Ginting, M., Ebadi, K., Anderson, M., Pailevanian, T., Terry, E., Wolf, M., Tagliabue, A., Vaquero, T., Palieri, M., ... Burdick, J. (2022). NeBula: TEAM CoSTAR's Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge. Field Robotics, 2(1), 1432-1506. External link
Arseneault, S., Vielfaure, D., & Beltrame, G. (2022, May). RASS: Risk-Aware Swarm Storage [Paper]. 21st International Conference on Autonomous Agents and Multiagent Systems. External link
Azambuja, R. , Fouad, H., Bouteiller, Y., Sol, C., & Beltrame, G. (2022, May). When being soft makes you tough: a collision-resilient quadcopter inspired by arthropods' exoskeletons [Paper]. IEEE International Conference on Robotics and Automation (ICRA 2022), Philadelphia, PA, USA. External link
Ayari, R., Hafnaoui, I., Beltrame, G., & Nicolescu, G. (2018). ImGA: an improved genetic algorithm for partitioned scheduling on heterogeneous multi-core systems. Design Automation for Embedded Systems, 22(1-2), 183-197. External link
Ayari, R., Hafnaoui, I., Aguiar, A., Gilbert, P., Galibois, M., Rousseau, J.-P., Beltrame, G., & Nicolescu, G. (2018). Multi-objective mapping of full-mission simulators on heterogeneous distributed multi-processor systems. Journal of Defense Modeling and Simulation: Applications, Methodology, Technology, 15(4), 449-460. External link
Ayari, R., Nikdast, M., Hafnaoui, I., Beltrame, G., & Nicolescu, G. (2017). HypAp: a Hypervolume-Based Approach for Refining the Design of Embedded Systems. IEEE Embedded Systems Letters, 9(3), 57-60. External link
Ayari, R., Hafnaoui, I., Beltrame, G., & Nicolescu, G. (2016, January). Schedulability-Guided Crossover Operator for Real-Time Scheduling on Heterogeneous Multi-core Systems [Paper]. IEEE International Symposium on Rapid System Prototyping, Pittsburg, Pennsylvania. Unavailable
Ayari, R., Hafnaoui, I., Beltrame, G., & Nicolescu, G. (2016, October). Schedulability-guided exploration of multi-core systems [Paper]. 27th International Symposium on Rapid System Prototyping: Shortening the Path from Specification to Prototype (RSP 2016), Pittsburgh, PA, United States. External link
Ayari, R., Hafanaoui, I., Beltrame, G., & Nicolescu, G. (2016, July). Simulation-based schedulability assessment for real-time systems [Paper]. Conference on Summer Computer Simulation (SCSC 2016), Montréal, Québec. External link
Anwar, H., Chao, C., & Beltrame, G. (2015, June). A probabilistically analysable cache implementation on FPGA [Paper]. 13th IEEE International New Circuits and Systems Conference (NEWCAS 2015), Grenoble, France (4 pages). External link
Anwar, H., Jafri, S., Dytckov, S., Daneshtalab, M., Ebrahimi, M., Plosila, J., Beltrame, G., & Tenhunen, H. (2014, June). Exploring Spiking Neural Network on Coarse-Grain Reconfigurable Architectures [Paper]. 2nd ACM International Workshop on Manycore Embedded Systems (MES 2014), Minneapolis, MN, USA. External link
Anwar, H., Daneshtalab, M., Ebrahimi, M., Plosila, J., Tenhunen, H., Dytckov, S., & Beltrame, G. (2014, August). Parameterized AES-Based Crypto Processor for FPGAs [Paper]. 2014 17th Euromicro Conference on Digital System Design (DSD), Verona, Italy. External link
Braga, R. G., Varadharajan, V. S., Beltrame, G., & St-Onge, D. (2024, October). Swarming Out of the Lab: Comparing Relative Localization Methods for Collective Behavior [Paper]. 14th International Conference on Swarm Intelligence (ANTS 2024), Konstanz, Germany. External link
Brignol, A., Paas, A., Sotelo-Castro, L., St-Onge, D., Beltrame, G., & Coffey, E. B. J. (2024). Overcoming boundaries: Interdisciplinary challenges and opportunities in cognitive neuroscience. Neuropsychologia, 200, 108903 (11 pages). External link
Bajestani, S. E. M., & Beltrame, G. (2023, January). Event-based RGB sensing with structured light [Paper]. IEEE/CVF Winter Conference on Applications of Computer Vision (WACV 2023), Waikoloa, HI, USA. External link
Bedard, C., Lajoie, P.-Y., Beltrame, G., & Dagenais, M. (2023). Message flow analysis with complex causal links for distributed ROS 2 systems. Robotics and Autonomous Systems, 161, 104361 (12 pages). External link
Bouteiller, Y., Ramstedt, S., Beltrame, G., Pal, C. J., & Binas, J. (2021, May). Reinforcement Learning with Random Delays [Poster]. 9th International Conference on Learning Representations (ICLR 2021). Unavailable
Beltrame, G., Merlo, E., Panerati, J., & Pinciroli, C. (2018, May). Engineering safety in swarm robotics [Paper]. 1st ACM/IEEE International Workshop on Robotics Software Engineering (RoSE 2018) and 40th International Conference on Software Engineering (ICSE 2018), Gothenburg, Sweden. External link
Beltrame, G., Nicolescu, G., & Fossati, L. (2017). Modeling multiprocessor real-time systems at transaction level. In Real-Time Simulation Technologies: Principles, Methodologies, and Applications (pp. 243-258). External link
Beltrame, G. (2015). Triple Modular Redundancy verification via heuristic netlist analysis. PeerJ Computer Science. Available
Bougie, V., Bourbeau, E., Cloutier, N., Guay, A., Lalonde, M., Panerati, J., Smyth, M., Tousignant, M., Fortier, D., & Beltrame, G. (2014, September). A Nano-satellite to monitor arctic geosystem changes affecting biodiversity in the Canadian arctic [Paper]. 65th International Astronautical Congress 2014 : Our world needs space (IAC 2014), Toronto, Canada. Unavailable
Beltrame, G., Nicolescu, G., & Fossati, L. (2012). Modeling Multiprocessor Real-Time Systems at Transaction Level. In Real-Time Simulation Technologies (Vol. 13, pp. 243-258). External link
Bhattacharya, N., El-Mahi, O., Duclos, E., Beltrame, G., Antoniol, G., Le Digabel, S., & Guéhéneuc, Y.-G. (2012, September). Optimizing threads schedule alignments to expose the interference bug pattern [Paper]. 4th International Symposium on Search Based Software Engineering (SSBSE 2012), Riva del Garda, Italy. External link
Bettarelli, F., Ciavattini, E., Lattanzi, A., Beltrame, G., Ferrandi, F., Fossati, L., Pilato, C., Sciuto, D., Meeuws, R. J., Ostadzadeh, S. A., Nawaz, Z., Lu, Y., Marconi, T., Sabeghi, M., Mihai Sima, V., & Sigdel, K. (2011). Extensions of the hArtes Tool Chain. In Hardware/Software Co-design for Heterogeneous Multi-core Platforms (pp. 193-229). External link
Beltrame, G., & Nicolescu, G. (2011, March). A multi-objective decision-theoretic exploration algorithm for platform-based design [Paper]. 14th Design, Automation and Test in Europe Conference and Exhibition (DATE 2011), Grenoble, France. External link
Beltrame, G., Fossati, L., & Sciuto, D. (2010). Decision-theoretic design space exploration of multiprocessor platforms. IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems, 29(7), 1083-1095. External link
Beltrame, G., Fossati, L., Zulianello, M., Henriques, L., & Braga, P. (2010, November). xLuna: A real-time dependable kernel for embedded systems [Paper]. IP Based Electronics System Conference (IP-SOC 2010), Grenoble, France. External link
Beltrame, G., Bolchini, C., & Miele, A. (2009, May). Multi-level fault modeling for transaction-level specifications [Paper]. ACM Great Lakes Symposium on VLSI (GLSVLSI 2009), Boston, MA, United states. External link
Beltrame, G., Fossati, L., & Sciuto, D. (2009, April). A real-time application design methodology for MPSoCs [Paper]. Design, Automation & Test in Europe Conference & Exhibition (DATE 2009), Nice, France. External link
Beltrame, G., Fossati, L., & Sciuto, D. (2009). ReSP: a nonintrusive transaction-level reflective MPSoC simulation platform for design space exploration. IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems, 28(12), 1857-69. External link
Beltrame, G., Fossati, L., & Sciuto, D. (2008, June). High-Level Modeling and Exploration of Reconfigurable MPSoCs [Paper]. NASA/ESA Conference on Adaptive Hardware and Systems (2008 AHS), Noordwijk, Netherlands. External link
Beltrame, G., Sciuto, D., & Silvano, C. (2007). Multi-Accuracy Power and Performance Transaction-Level Modeling. IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems, 26(10), 1830-1842. External link
Cio, Y.-S. L.-K., Beltrame, G., Vadean, A., Mohebbi, A., & Achiche, S. (2024). Concurrent product layout design optimization and dependency management using a modified NSGA-III approach. Frontiers in Mechanical Engineering, 10, 1178501. Available
Capelli, B., Fouad, H., Beltrame, G., & Sabattini, L. (2021, May). Decentralized Connectivity Maintenance with Time Delays using Control Barrier Functions [Paper]. IEEE International Conference on Robotics and Automation (ICRA 2021), Xi'an, China. External link
Cao, Y., Chen, C., St-Onge, D., & Beltrame, G. (2021). Distributed TDMA for Mobile UWB Network Localization. IEEE Internet of Things Journal, 8(17), 13449-13464. External link
Cao, Y., & Beltrame, G. (2021). VIR-SLAM: visual, inertial, and ranging SLAM for single and multi-robot systems. Autonomous Robots, 45(6), 905-917. External link
Cao, Y., Yang, C., Li, R., Knoll, A., & Beltrame, G. (2020, May). Accurate position tracking with a single UWB anchor [Paper]. IEEE International Conference on Robotics and Automation (ICRA 2020), Paris, France. External link
Cao, Y., St-Onge, D., & Beltrame, G. (2020, June). Collaborative localization and tracking with minimal infrastructure [Paper]. 18th IEEE International New Circuits and Systems Conference (NEWCAS 2020), Montréal, Qc, Canada. External link
Cotsakis, R., St-Onge, D., & Beltrame, G. (2019, May). Decentralized collaborative transport of fabrics using micro-UAVs [Paper]. International Conference on Robotics and Automation (ICRA 2019), Montréal, QC, Canada. External link
Chen, C., Panerati, J., Li, M., & Beltrame, G. (2019). Probabilistic timing analysis of time-randomised caches with fault detection mechanisms. IET Computers and Digital Techniques, 13(3), 129-139. External link
Cao, Y., Li, M., Svogor, I., Wei, S., & Beltrame, G. (2018). Dynamic range-only localization for multi-robot systems. IEEE Access, 6, 46527-46537. Available
Chen, C., & Beltrame, G. (2017). An adaptive Markov model for the timing analysis of probabilistic caches. ACM Transactions on Design Automation of Electronic Systems, 23(1), 1-24. Available
Chao, C., Panerati, J., Hafnaoui, I., & Beltrame, G. (2017, June). Static probabilistic timing analysis with a permanent fault detection mechanism [Paper]. 12th IEEE International Symposium on Industrial Embedded Systems (SIES 2017), Toulouse, France (10 pages). External link
Chao, C., Panerati, J., & Beltrame, G. (2016, September). Effects of online fault detection mechanisms on Probabilistic Timing Analysis [Paper]. IEEE International Symposium on Defect and Fault Tolerance in VLSI and Nanotechnology Systems (DFT 2016), Connecticut. External link
Chen, C., Santinelli, L., Hugues, J., & Beltrame, G. (2016, May). Static probabilistic timing analysis in presence of faults [Paper]. 11th IEEE Symposium on Industrial Embedded Systems (SIES 2016), Krakow, Poland (10 pages). External link
Cheikh, T. L. B., Beltrame, G., Nicolescu, G., Cheriet, F., & Tahar, S. (2012, June). Parallelization strategies of the canny edge detector for multi-core CPUs and many-core GPUs [Paper]. 10th IEEE International New Circuits and Systems Conference (NEWCAS 2012), Montréal, Québec. External link
Dah-Achinanon, U., Belhaddad, E. K., Ricard, G., & Beltrame, G. (2024, October). BittyBuzz: A Swarm Robotics Runtime for Tiny Systems [Paper]. 14th International Conference on Swarm Intelligence (ANTS 2024), Konstanz, Germany. External link
Du, W., & Beltrame, G. (2023, May). Real-Time Simultaneous Localization and Mapping with LiDAR Intensity [Paper]. IEEE International Conference on Robotics and Automation (ICRA 2023), London, United kingdom. External link
Dah-Achinanon, U., Marjani Bajestani, S. E., Lajoie, P.-Y., & Beltrame, G. (2023). Search and rescue with sparsely connected swarms. Autonomous Robots, 15 pages. External link
El-Mahi, O., Pesant, G., Nicolescu, G., & Beltrame, G. (2013, October). Embedded system verification through constraint-based scheduling [Paper]. International Symposium on Rapid System Prototyping (RSP 2013), Montréal, Québec, Canada. External link
El-Mahi, O., Nicolescu, G., Pesant, G., & Beltrame, G. (2012, November). Embedded system verification through constraint-based scheduling [Paper]. IEEE International High Level Design Validation and Test Workshop (HLDVT 2012), Huntington Beach, CA, USA. External link
Fouad, H., & Beltrame, G. (2022). Energy autonomy for robot systems with constrained resources. IEEE Transactions on Robotics, 38(6), 3675-3693. External link
Fouad, H., & Beltrame, G. (2020, October). Energy autonomy for resource-constrained multi robot missions [Paper]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), Las Vegas, NV, USA. External link
Fourmigue, A., Beltrame, G., & Nicolescu, G. (2016). Transient thermal simulation of liquid-cooled 3-D circuits. IEEE Transactions on Components, Packaging and Manufacturing Technology, 6(9), 1349-1360. External link
Fode, C., Guay, A., Desroches, P., Lalonde, M., Panerati, J., Smyth, M., Valdatta, M., Bellini, N., Rastelli, D., Naldi, S., & Beltrame, G. (2015, October). Eleonora, A 3U cubesat for the canadian satellite design challenge [Paper]. 66th International Astronautical Congress 2015: Space - The Gateway for Mankind's Future (IAC 2015), Jerusalem, Israel. Unavailable
Fode, C., Panerati, J., Desroches, P., Valdatta, M., & Beltrame, G. (2015). Monitoring glaciers from space using a cubesat. IEEE Communications Magazine, 53(5), 208-210. External link
Fourmigue, A., Beltrame, G., & Nicolescu, G. (2014, March). Efficient transient thermal simulation of 3D ICs with liquid-cooling and through silicon vias [Paper]. 17th Design, Automation and Test in Europe (DATE 2014), Dresden, Germany. External link
Fourmigue, A., Beltrame, G., & Nicolescu, G. (2013, March). Explicit transient thermal simulation of liquid-cooled 3D ICs [Paper]. 16th Design, Automation and Test in Europe Conference and Exhibition (DATE 2013), Grenoble, France. External link
Fourmigue, A., Beltrame, G., Nicolescu, G., & Aboulhamid, E. M. (2011, October). A linear-time approach for the transient thermal simulation of liquid-cooled 3D ICs [Paper]. 9th IEEE/ACM International Conference on Hardware/Software-Codesign and System Synthesis (CODES+ISSS 2011), part of Embedded Systems Week (ESWEEK 2011), Taipei, Taiwan. External link
Fourmigue, A., Beltrame, G., Nicolescu, G., Aboulhamid, E. M., & O'Connor, I. (2011, March). Multi-granularity thermal evaluation of 3D MPSoC architectures [Paper]. 14th Design, Automation and Test in Europe Conference and Exhibition (DATE 2011), Grenoble, France. External link
Gomes Braga, R., Varadharajan, V. S., Beltrame, G., & St-Onge, D. (2024, October). Swarming out of the lab : comparing relative localization methods for collective behavior [Paper]. 14th International Conference on Swarm Intelligence (ANTS 2024), Konstanz, Germany. External link
Guannan, L., Švogor, I., & Beltrame, G. (2017, July). Self-adaptive pattern formation with battery-powered robot swarms [Paper]. NASA/ESA Conference on Adaptive Hardware and Systems (AHS 2017), Pasadena, CA. External link
Hafnaoui, I., Nicolescu, G., & Beltrame, G. (2019). Timing information propagation in interactive networks. Scientific Reports, 9(1), 4442 (14 pages). Available
Hafnaoui, I., Ayari, R., Nicolescu, G., & Beltrame, G. (2017). Scheduling real-time systems with cyclic dependence using data criticality. Design Automation for Embedded Systems, 21(2), 117-136. Available
Hafnaoui, I., Chen, C., Ayari, R., Nicolescu, G., & Beltrame, G. (2017, October). An analysis of random cache effects on real-time multi-core scheduling algorithms [Paper]. 28th International Symposium on Rapid System Prototyping: Shortening the Path from Specification to Prototype (RSP 2017), Seoul, South Korea. External link
Hafnaoui, I., Ayari, R., Beltrame, G., & Nicolescu, G. (2016, January). Simulation-based Model Generator for Software Performance Estimation [Paper]. IEEE International Symposium on Rapid System Prototyping, Pittsburg, Pennsylvania. External link
Hafnaoui, I., Ayari, R., Nicolescu, G., & Beltrame, G. (2016, July). A simulation-based model generator for software performance estimation [Paper]. 48th Summer Computer Simulation Conference (SCSC 2016), Montréal, Québec. Unavailable
Infantes, R. S., Beltrame, G., Khomh, F., Alba, E., & Antoniol, G. (2016, March). Optimizing user experience in choosing Android applications [Paper]. 23rd IEEE International Conference on Software Analysis, Evolution, and Reengineering (SANER 2016), Osaka, Japan. External link
Kaufmann, M., Vaquero, T. S., Correa, G. J., Otsu, K., Ginting, M. F., Beltrame, G., & Agha-Mohammadi, A.-A. (2021, March). Copilot MIKE: an autonomous assistant for multi-robot operations in cave exploration [Paper]. IEEE Aerospace Conference (AeroConf 2021), Big Sky, MT, USA (9 pages). External link
Kaufmann, M., Sheridan, K., & Beltrame, G. (2021, October). Towards Human-in-the-Loop Autonomous Multi-Robot Operations [Paper]. 23rd ACM International Conference on Multimodal Interaction (ICMI 2021 - Companion), Montreal, Qc, Canada. External link
Kaufmann, M., Zwiener, A., Robin, J.-F., Gauthier, J.-P., Beltrame, G., & St-Onge, D. (2020, March). The Sound Settler: Spontaneous HRI in an Art Setting [Paper]. Companion of the 2020 ACM/IEEE International Conference on Human-Robot Interaction, Cambridge, United Kingdom. External link
Kaufmann, M., Panerati, J., & Beltrame, G. (2018, June). Towards a symbiotic human and multi-robot planetary exploration system : resilient toplogies for space exploration [Paper]. Workshop on Autonomous Space Robotics (RSS 2018), Pittsburgh, Pennsylvania (4 pages). Unavailable
Lajoie, P.-Y., Soma, K., Bong, H., Lemieux-Bourque, A., Zhang, R., Varadharajan, V. S., & Beltrame, G. (2024). Collaborative Simultaneous Localization and Mapping Dataset on Mars Analogue Terrain with Inter-Robot Communication Estimation [Dataset]. External link
Li, M., Belzile, B., Imran, A., Birglen, L., Beltrame, G., & St-Onge, D. (2023, August). From Assistive Devices to Manufacturing Cobot Swarms [Paper]. 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2023), Busan, Republic of Korea. External link
Lajoie, P.-Y., & Beltrame, G. (2023). Self-Supervised Domain Calibration and Uncertainty Estimation for Place Recognition. IEEE Robotics and Automation Letters, 8(2), 792-799. External link
Lajoie, P.-Y., & Beltrame, G. (2023). Swarm-SLAM: Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems. IEEE Robotics and Automation Letters, 9(1), 475-482. External link
Lajoie, P.-Y., Ramtoula, B., Fang, W., & Beltrame, G. (2022). Towards Collaborative Simultaneous Localization and Mapping: a Survey of the Current Research Landscape. Field Robotics, 2(1), 971-1000. Available
Law-Kam Cio, Y.-S., Ma, Y., Vadean, A., Beltrame, G., & Achiche, S. (2021). Evolutionary layout design synthesis of an autonomous greenhouse using product-related dependencies. Artificial Intelligence for Engineering Design, Analysis and Manufacturing, 35(1), 49-64. External link
Lajoie, P.-Y., Ramtoula, B., Chang, Y., Carlone, L., & Beltrame, G. (2020). DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams. IEEE Robotics and Automation Letters, 5(2), 1656-1663. External link
Law-Kam Cio, Y.-S., Ma, Y., Vadean, A., Beltrame, G., & Achiche, S. (2020, August). Objective reduction using axiomatic design and product-related dependencies : a layout synthesis of an autonomous greenhouse case study [Paper]. ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (10 pages). External link
Li, G., Švogor, I., & Beltrame, G. (2019). Long-term pattern formation and maintenance for battery-powered robots. Swarm Intelligence, 13(1), 21-57. External link
Lajoie, P.-Y., Hu, S., Beltrame, G., & Carlone, L. (2019). Modeling Perceptual Aliasing in SLAM via Discrete-Continuous Graphical Models. IEEE Robotics and Automation Letters, 4(2), 1232-1239. External link
Levillain, F., St-Onge, D., Beltrame, G., & Zibetti, E. (2019, October). Towards situational awareness from robotic group motion [Paper]. 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2019), New Delhi, India (6 pages). External link
Li, G., St-Onge, D., Pinciroli, C., Gasparri, A., Garone, E., & Beltrame, G. (2018). Decentralized progressive shape formation with robot swarms. Autonomous Robots, 43(6), 1505-1521. External link
Levillain, F., St-Onge, D., Zibetti, E., & Beltrame, G. (2018, August). More Than the Sum of its Parts: Assessing the Coherence and Expressivity of a Robotic Swarm [Paper]. 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2018), Nanjing, China. External link
Laprise, S., Beaudry, S., Panerati, J., Zabeau, J., Attendu, L., & Beltrame, G. (2017, September). Electrical requirements for control of cubesat with electrospray ion thrusters [Paper]. 68th International Astronautical Congress: Unlocking Imagination, Fostering Innovation and Strengthening Security (IAC 2017), Adelaide, Australia. Unavailable
Morrell, B., Otsu, K., Agha, A., Fan, D. D., Kim, S.-K., Ginting, M. F., Lei, X., Edlund, J. A., Fakoorian, S., Bouman, A., Chávez, F., Kim, T., Correa, G. J., Silva, M. S. , Santamaria‐Navarro, À., Lopez, B. T., Kim, B., Jung, C., Sobue, M., ... Burdick, J. W. (2024). An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments. IEEE Transactions on Field Robotics, 1-1. External link
Mutreja, V., Gupta, P., Lungu, O., Lazzouni, L., James, H., Gabitov, E., Benali, H., Lina, J.-M., Albouy, G., King, B., Boutin, A., Carrier, J., Jourde, H., Beltrame, G., Coffey, E., & Doyon, J. (2024, September). Declarative memory reactivation using closed-loop auditory stimulation during overnight sleep improves memory consolidation [Abstract]. 27th Congress of the European Sleep Research Society, Seville, Spain. Published in Journal of Sleep Research, 33(S1). External link
Merlo, E., Pinciroli, C., Panerati, J., Famelis, M., & Beltrame, G. (2022, May). Automated extraction and checking of property models from source code for robot swarms [Paper]. 4th IEEE/ACM International Workshop on Robotics Software Engineering (RoSE 2022), Pittsburgh, PA, USA. External link
Ma, Y., Vadean, A., Beltrame, G., & Achiche, S. (2021, October). Conceptual design of a nano satellite incubator using axiomatic design and a mechatronic multicriteria profile [Paper]. 23rd International Dependency and Structure Modeling Conference (DSM 2021), Montreal, Québec (10 pages). External link
Moussa, M., & Beltrame, G. (2021). Real-Time Path Planning with Virtual Magnetic Fields. IEEE Robotics and Automation Letters, 6(2), 3279-3286. External link
Moussa, M., & Beltrame, G. (2020). On the robustness of consensus-based behaviors for robot swarms. Swarm Intelligence, 14(3), 205-231. External link
Minelli, M., Panerati, J., Kaufmann, M., Ghedini, C., Beltrame, G., & Sabattini, L. (2020). Self-optimization of resilient topologies for fallible multi-robots. Robotics and Autonomous Systems, 124, 12 pages. External link
Minelli, M., Kaufmann, M., Panerati, J., Ghedini, C., Beltrame, G., & Sabattini, L. (2019). Stop, Think, and Roll: Online Gain Optimization for Resilient Multi-robot Topologies. In Distributed Autonomous Robotic Systems (Vol. 9, pp. 357-370). External link
Majcherczyk, N., Jayabalan, A., Beltrame, G., & Pinciroli, C. (2018, October). Decentralized Connectivity-preserving Deployment of Large-scale Robot Swarms [Paper]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Madrid, Spain. External link
Moussa, M., Di Penta, M., Antoniol, G., & Beltrame, G. (2017, May). ACCUSE: helping users to minimize Android app privacy concerns [Paper]. 4th IEEE/ACM International Conference on Mobile Software Engineering and Systems (MOBILESoft 2017), Buenos Aires, Argentina. External link
Paas, A., Jourde, H. R., Brignol, A., Savard, M.-A., Eyqvelle, Z., Bassetto, S., Beltrame, G., & Coffey, E. B. J. (2024). Beyond the lab: Feasibility of cognitive neuroscience data collection during a speleological expedition. Journal of Environmental Psychology, 99, 102443 (13 pages). External link
Panerati, J., Ramtoula, B., St-Onge, D., Cao, Y., Kaufmann, M., Cowley, A., Sabattini, L., & Beltrame, G. (2021, June). On the Communication Requirements of Decentralized Connectivity Control: A Field Experiment [Paper]. 15th International Symposium on Distributed Autonomous Robotic Systems (DARS 2021) & 4th International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM 2021), Kyoto, Japan. External link
Paas, A., Coffey, E. B. J., Beltrame, G., & St-Onge, D. (2022, August). Towards evaluating the impact of swarm robotic control strategy on operators' cognitive load [Paper]. 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2022), Napoli, Italy. External link
Panerati, J., Schnellmann, M. A., Patience, C. A., Beltrame, G., & Patience, G. S. (2019). Experimental methods in chemical engineering: Artificial neural networks-ANNs. Canadian Journal of Chemical Engineering, 97(9), 2372-2382. External link
Panerati, J., Schwind, N., Zeltner, S., Inoue, K., & Beltrame, G. (2018). Assessing the resilience of stochastic dynamic systems under partial observability. PLOS One, 13(8), e0202337 (21 pages). Available
Panerati, J., Gianoli, L., Pinciroli, C., Shabah, A., Nicolescu, G., & Beltrame, G. (2018, May). From Swarms to Stars: Task Coverage in Robot Swarms with Connectivity Constraints [Paper]. IEEE International Conference on Robotics and Automation (ICRA 2018), Brisbane, Australia. External link
Panerati, J., Minelli, M., Ghedini, C., Meyer, L., Kaufmann, M., Sabattini, L., & Beltrame, G. (2018). Robust connectivity maintenance for fallible robots. Autonomous Robots, 43(3), 769-787. External link
Panerati, J., Sciuto, D., & Beltrame, G. (2017). Optimization strategies in design space exploration. In Ha, S., & Teich, J. (eds.), Handbook of Hardware/Software Codesign (pp. 189-216). External link
Pinciroli, C., Lee-Brown, A., & Beltrame, G. (2015, December). A tuple space for data sharing in robot swarms [Paper]. 9th EAI International Conference on Bio-inspired Information and Communications Technologies (BICT 2015), New York, NY, USA (8 pages). Available
Panerati, J., Sciuto, D., & Beltrame, G. (2016). Optimization Strategies in Design Space Exploration. In Ha, S., & Teich, J. (eds.), Handbook of Hardware/Software Codesign (pp. 1-29). External link
Pinciroli, C., & Beltrame, G. (2016). Buzz: A programming language for robot swarms. IEEE Software, 33(4), 97-100. External link
Pinciroli, C., & Beltrame, G. (2016, October). Buzz: An extensible programming language for heterogeneous swarm robotics [Paper]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, Korea. External link
Pinciroli, C., Gasparri, A., Garone, E., & Beltrame, G. (2016, November). Decentralized Progressive Shape Formation with Robot Swarms [Paper]. 13th International Symposium on Distributed Autonomous Robotic Systems (DARS 2016), London, UK. External link
Panerati, J., Beltrame, G., Schwind, N., Zeltner, S., & Inoue, K. (2016, March). Probabilistic Resilience in Hidden Markov Models [Paper]. 4th International Conference on Manufacturing, Optimization, Industrial and Material Engineering (MOIME 2016), Bali, Indonesia (10 pages). External link
Pinciroli, C., & Beltrame, G. (2016). Swarm-Oriented Programming of Distributed Robot Networks. Computer, 49(12), 32-41. Available
Pinciroli, C., Riahi, S., & Beltrame, G. (2015, June). A low-cost validation setup for the thermal modelling of electronic devices [Paper]. 13th IEEE International New Circuits and Systems Conference (NEWCAS 2015), Grenoble, France (4 pages). External link
Panerati, J., & Beltrame, G. (2015, June). Trading off power and fault-tolerance in real-time embedded systems [Paper]. NASA/ESA Conference on Adaptive Hardware and Systems (AHS 2015), Montréal, Québec (8 pages). External link
Panerati, J., Abdi, S., & Beltrame, G. (2014, July). Balancing system availability and lifetime with dynamic hidden Markov models [Paper]. 2014 NASA/ESA Conference on Adaptive Hardware and Systems, AHS 2014, Leicester, United kingdom. External link
Panerati, J., & Beltrame, G. (2014). A comparative evaluation of multi-objective exploration algorithms for high-level design. ACM Transactions on Design Automation of Electronic Systems, 19(2), 1-22. External link
Panerati, J., & Beltrame, G. (2014, September). Fault-tolerant Soft Real-time Computing Systems based on Dynamic Bayesian Reasoning [Paper]. 65th International Astronautical Congress 2014 : Our world needs space (IAC 2014), Toronto, Canada. Unavailable
Panerati, J., Sironi, F., Carminati, M., Maggio, M., Beltrame, G., Gmytrasiewicz, P. J., Sciuto, D., & Santambrogio, M. D. (2013, June). On self-adaptive resource allocation through reinforcement learning [Paper]. 2013 NASA/ESA Conference on Adaptive Hardware and Systems, AHS 2013, Turin, Italy. External link
Paulin, P. G., Pilkington, C., Langevin, M., Bensoudane, E., Lyonnard, D., Benny, O., Lavigueur, B., Lo, D., Beltrame, G., Gagné, V., & Nicolescu, G. (2006). Parallel Programming Models for a Multiprocessor Soc Platform Applied to Networking and Multimedia. IEEE Transactions on Very Large Scale Integration (VLSI) Systems, 14(7), 667-680. External link
Ricard, G., Vielfaure, D., & Beltrame, G. (2022, November). FLAM : Fault Localization and Mapping [Paper]. 16th International Symposium on Distributed Autonomous Robotic Systems (DARS 2022), Montbeliard, France. External link
Ramtoula, B., Caccavale, A., Beltrame, G., & Schwager, M. (2021, November). MSL-RAPTOR: A 6DoF Relative Pose Tracker for Onboard Robotic Perception [Paper]. 17th International Symposium on Experimental Robotics (ISER 2021), Malta. External link
Ramtoula, B., De Azambuja, R., & Beltrame, G. (2020, May). CAPRICORN: Communication Aware Place Recognition using Interpretable Constellations of Objects in Robot Networks [Paper]. IEEE International Conference on Robotics and Automation (ICRA 2020), Paris, France. External link
Ramtoula, B., de Azambuja, R., & Beltrame, G. (2019, August). Data-Efficient Decentralized Place Recognition with 3D Constellations of Objects [Paper]. International Symposium on Multi-Robot and Multi-Agent Systems (MRS 2019), New Brunswick, N.J., USA. External link
Soma, K., Khateri, K., Pourgholi, M., Montazeri, M., Sabattini, L., & Beltrame, G. (2023, May). A Complete Set of Connectivity-aware Local Topology Manipulation Operations for Robot Swarms [Paper]. IEEE International Conference on Robotics and Automation (ICRA 2023), London, United Kingdom. External link
Soma, K., Vardharajan, V. S., Hamann, H., & Beltrame, G. (2023, December). Congestion and Scalability in Robot Swarms: A Study on Collective Decision Making [Paper]. International Symposium on Multi-Robot and Multi-Agent Systems (MRS 2023), Boston, MA, USA. External link
Sarkar, B., Miquet-Westphal, F., Bobbara, S., George, B., Beltrame, G., Dousset, D., Wu, K., & Cicoira, F. (2023). Electromagnetic interference shielding in lightweight carbon xerogels. Materials Research Express, 10(4), 045601 (8 pages). External link
Saboia, M., Clark, L., Thangavelu, V., Edlund, J. A., Otsu, K., Correa, G. J., Varadharajan, V. S., Santamaria-Navarro, A., Touma, T., Bouman, A., Melikyan, H., Pailevanian, T., Kim, S.-K., Archanian, A., Vaquero, T. S., Beltrame, G., Napp, N., Pessin, G., & Agha-mohammadi, A.- (2022). ACHORD: Communication-aware multi-robot coordination with intermittent connectivity. IEEE Robotics and Automation Letters, 7(4), 10184-10191. External link
Sperling, M., Bouteiller, Y., De Azambuja, R., & Beltrame, G. (2020, May). Domain Generalization via Optical Flow: Training a CNN in a Low-Quality Simulation to Detect Obstacles in the Real World [Paper]. 17th Conference on Computer and Robot Vision (CRV 2020), Ottawa, ON. External link
St-Onge, D., Varadharajan, V. S., Švogor, I., & Beltrame, G. (2020). From design to deployment: decentralized coordination of heterogeneous robotic teams. Frontiers in Robotics and AI, 7, 51 (16 pages). Available
St-Onge, D., Kaufmann, M., Panerati, J., Ramtoula, B., Cao, Y., Coffey, E. B. J., & Beltrame, G. (2020). Planetary Exploration with Robot Teams: Implementing Higher Autonomy With Swarm Intelligence. IEEE Robotics and Automation Magazine, 27(2), 159-168. External link
St-Onge, D., Varadharajan, V. S., Švogor, I., & Beltrame, G. (2020). Two decentralized behaviors for robotic swarms from simulation to the field [Dataset]. External link
St-Onge, D., Levillain, F., Zibetta, E., & Beltrame, G. (2019). Collective expression: how robotic swarms convey information with group motion. Journal of Behavioral Robotics, 10(1), 418-435. External link
St-Onge, D., Cote-Allard, U., Glette, K., Gosselin, B., & Beltrame, G. (2019). Engaging with Robotic Swarms: Commands from Expressive Motion. ACM Transactions on Human-Robot Interaction, 8(2), 1-26. External link
Siligardi, L., Panerati, J., Kaufmann, M., Minelli, M., Ghedini, C., Beltrame, G., & Sabattini, L. (2019, May). Robust area coverage with connectivity maintenance [Paper]. International Conference on Robotics and Automation (ICRA 2019), Montréal, Qc, Canada. External link
St-Onge, D., Varadharajan, V. S., & Beltrame, G. (2019, May). Tangible Robotic Fleet Control [Paper]. 18th International Conference on Autonomous Agents and MultiAgent Systems (AAMAS 2019), Montréal QC, Canada. External link
St-Onge, D., Kwek, J. Y., & Beltrame, G. (2018, March). Behaviours and states for human-swarm interaction studies [Paper]. 13th Annual ACM/IEEE International Conference on Human Robot Interaction (HRI 2018), Chicago, IL, United states (1 page). External link
St-Onge, D., Pinciroli, C., & Beltrame, G. (2018, October). Circle Formation with Computation-Free Robots Shows Emergent Behavioural Structure [Paper]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Madrid, Spain. External link
Shahriari, M., Švogor, I., St-Onge, D., & Beltrame, G. (2018, October). Lightweight Collision Avoidance for Resource-Constrained Robots [Paper]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Madrid, Spain. External link
Saborido, R., Beltrame, G., Khomh, F., Alba, E., & Antoniol, G. (2016). Optimizing user experience in choosing android applications. (Technical Report n° EPM-RT-2016-03). Available
Trouillefou, C. M., Law-Kam Cio, Y.-S., Jolicoeur, M., Said, B., Galarneau, A., Achiche, S., & Beltrame, G. (2021). An autonomous plant growing miniaturized incubator for a Cubesat. Acta Astronautica, 179, 439-449. External link
Trouillefou, C. M., Beltrame, G., & Rodriguez, G. (2020, October). Towards an autonomous plant growing module for a Cubesat [Paper]. 71st International Astronautical Congress (IAC 2020. Unavailable
Varadharajan, V. S., & Beltrame, G. (2025). A Multi-Robot Exploration Planner for Space Applications. IEEE Robotics and Automation Letters, 1-8. External link
Vardharajan, V. S., Soma, K., & Beltrame, G. (2021, June). Collective Transport viaSequential Caging [Paper]. 15th International Symposium on Distributed Autonomous Robotic Systems, DARS 2021 and 4th International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM 2021). External link
Vielfaure, D., Arseneault, S., Lajoie, P.-Y., & Beltrame, G. (2022, May). Dora: Distributed online risk-aware explorer [Paper]. International Conference on Robotics and Automation (ICRA), Philadelphia, PA, USA. External link
Varadharajan, V. S., & Beltrame, G. (2022). Get Together! Multi-robot Systems: Bio-Inspired Concepts and Deployment Challenges. In Foundations of Robotics: A Multidisciplinary Approach with Python and ROS (pp. 299-332). External link
Valenchon, N., Bouteiller, Y., Jourde, H. R., L'Heureux, X., Sobral, M., Coffey, E. B. J., & Beltrame, G. (2022). The Portiloop: A deep learning-based open science tool for closed-loop brain stimulation. PLOS ONE, 17(8), e0270696 (20 pages). External link
Varadharajan, V. S., St-Onge, D., Adams, B., & Beltrame, G. (2020). SOUL: data sharing for robot swarms. Autonomous Robots, 44(3-4), 377-394. External link
Varadharajan, V. S., St-Onge, D., Adams, B., & Beltrame, G. (2020). Swarm Relays: Distributed Self-Healing Ground-and-Air Connectivity Chains. IEEE Robotics and Automation Letters, 5(4), 5347-5354. External link
Varadharajan, V. S., Adams, B., & Beltrame, G. (2019, May). The Unbroken Telephone Game: Keeping Swarms Connected [Paper]. 18th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2019), Montréal, Canada. External link
Varadharajan, V. S., St Onge, D., Guss, C., & Beltrame, G. (2018). Over-the-air updates for robotic swarms. IEEE Software, 35(2), 44-50. External link
Wu, F., & Beltrame, G. (2022). Direct Sparse Odometry with Planes. IEEE Robotics and Automation Letters, 7(1), 557-564. External link
Wu, F., & Beltrame, G. (2020). Cluster-based Penalty Scaling for Robust Pose Graph Optimization. IEEE Robotics and Automation Letters, 5(4), 6193-6200. External link
Wu, F., Varadharajan, V. S., & Beltrame, G. (2019, August). Collision-aware Task Assignment for Multi-Robot Systems [Paper]. International Symposium on Multi-Robot and Multi-Agent Systems (MRS 2019), New Brunswick, N.J., USA. External link
Zhang, R., Bong, H., & Beltrame, G. (2024, October). Active Semantic Mapping and Pose Graph Spectral Analysis for Robot Exploration [Paper]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), Abu Dhabi, United Arab Emirates. Published in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). External link
Zhang, B., Chen, X., Li, Z., Beltrame, G., Xu, C., Gao, F., & Cao, Y. (2023). CoNi-MPC: Cooperative Non-inertial Frame Based Model Predictive Control. IEEE Robotics and Automation Letters, 8(12), 8082-8089. External link
Zheng, H., Panerati, J., Beltrame, G., & Prorok, A. (2020). An adversarial approach to private flocking in mobile robot teams. IEEE Robotics and Automation Letters, 5(2), 1009-1016. External link
Zabeau, J., Noël, A., & Beltrame, G. (2016, September). Manufacturing Compact Electrospray Thrusters to Deorbit a Nanosatellite [Paper]. 67th International Astronautical Congress (IAC 2016), Guadalajara, Mexico. External link
Zabeau, J., Noël, A., & Beltrame, G. (2016, September). A Miniaturized Incubator Design For Microgravity Botanic Experiments in CubeSats [Paper]. 67th International Astronautical Congress (IAC 2016), Guadalajara, Mexico. External link
