Guillaume Sartoretti joined the Mechanical Engineering department at the National University of Singapore (NUS) as an Assistant Professor in 2019. Before that, he was a Postdoctoral Fellow in the Robotics Institute at Carnegie Mellon University (USA), where he worked with Prof. Howie Choset. He received his Ph.D. in robotics from EPFL (Switzerland) in 2016 for his dissertation on “Control of Agent Swarms in Random Environments” under the supervision of Prof. Max-Olivier Hongler. He also holds a B.S. and an M.S. degree in Mathematics and Computer Science from the University of Geneva (Switzerland). His research focuses on the distributed/decentralized coordination of numerous agents, at the interface between stochastic modelling, conventional control, and artificial intelligence. Applications range from multi-robot systems, where independent robots need to coordinate their actions to achieve a common goal, to high-DoF articulated robots, where joints need to be carefully coupled during locomotion in rough terrain. In 2018, he was awarded a Manufacturing Futures Initiative (MFI) postdoctoral fellowship for his recent work on scalable multi-agent path finding via distributed reinforcement learning.
Qualifications
PhD. Ecole Polytechnique Federale de Lausanne (EPFL, Switzerland); Msc and Bsc University of Geneva (Switzerland).
Research Interests
Robotics, Multi-Agent/Multi-Robot Systems, Mobile Articulated Robots, Distributed (Reinforcement) Learning, Swarm Intelligence, Distributed/Decentralized Control, Stochastic Modeling.
Selected Publications
[1] Guillaume Sartoretti, William Paivine, Yunfei Shi, Yue Wu, and Howie Choset. Distributed learning of decentralized control policies for articulated mobile robots. IEEE Transactions on Robotics, pages 1–14, 2019.
[2] Guillaume Sartoretti, Justin Kerr, Yunfei Shi, Glenn Wagner, T. K. Satish Kumar, Sven Koenig, and Howie Choset. PRIMAL: Pathfinding via Reinforcement and Imitation Multi- Agent Learning. IEEE Robotics and Automation Letters, 4(3):2378–2385, 2019.
[3] Guillaume Sartoretti, Samuel Shaw, Katie Lam, Naixin Fan, Matthew Travers, and Howie Choset. Central pattern generator with inertial feedback for stable locomotion and climbing in unstructured terrain. In ICRA 2018 – IEEE International Conference on Robotics and Automation, pp.5769-5775, 2018.
[4] Guillaume Sartoretti, Max-Olivier Hongler, Marcelo Elias de Oliveira, and Francesco Mondada. Decentralized self-selection of swarm trajectories: From dynamical system theory to robotic implementation. Swarm Intelligence, vol. 8(no. 4):329-351, 2014.