RoboMesh - Beyond 5G Distributed Ledger Technology driven Mesh for Industrial Robot Collaboration

The robotization of industry is one of the key drivers behind the Industry 4.0 revolution. Collaborative robots are becoming a reality across the manufacturing industry, autonomous robots are already a key asset in the logistics sector, and UAVs are being used for inspection and monitoring in diverse domains. Ubiquitous robots with augmented connectivity are merging into the Industrial Internet of Things, enabling higher degrees of intelligence through computational offloading. RoboMesh delves into the design and development of a framework for collaboration and long-term autonomy in distributed and heterogeneous multi-robot systems based on a Beyond-5G wireless mesh network with built-in distributed ledger technology. This framework involves data sharing, collaborative decision making, and dynamic and adaptive computational offloading, while it serves as the basis for interaction between robots and infrastructure with collaborative sensing and multi-modal sensor fusion approaches.

The multidisciplinary nature and the ambitious targets set by the project requires collaboration between partners having strong know-how and complementary expertise. RoboMesh brings together the competence and effort of the recognized experts in edge computing and distributed processing for multi-robot systems (TIERS/Univ. Turku), wireless communications (CWC/Univ. of Oulu), and advanced robotic systems and solutions (BISG/Univ. Oulu). The project also enjoys the support of the experts in the area of machine-type, automotive and industrial wireless connectivity (Prof. Roberto Verdone, Univ. Bologna), swarm robotics (Prof. Marco Dorigo, Univ. libre de Bruxelles), aerial robotics (Dr. Fabrizio Schiano, EPFL), industrial UAVs (Prof. Anibal Ollero, Univ. of Sevilla, and Antidio Viguria, CTO of FADA-CATEC), advanced robotics (Prof. Bruno Siciliano, Univ. degli Studi di Napoli Federico II), and data fusion (Prof. Eric Grange, Univ. du Québec).

Funded by: Academy of Finland (#336061)

Related Publications

[1] Salma Salimi, Paola Torrico Morón, Jorge Peña Queralta, Tomi Westerlund, "Secure Heterogeneous Multi-Robot Collaboration and Docking with Hyperledger Fabric Blockchain", arXiv preprint (2022) . (View) (Download)

[2] Yu Xianjia, Jorge Peña Queralta, Tomi Westerlund, "Towards Lifelong Federated Learning in Autonomous Mobile Robots with Continuous Sim-to-Real Transfer", (2022) . (View) (Download)

[3] Yu Xianjia, Jorge Peña Queralta, Tomi Westerlund, "Federated Learning for Vision-based Obstacle Avoidance in the Internet of Robotic Things", (2022) . (View) (Download) (arXiv)

[4] Salma Salimi, Jorge Peña Queralta, Tomi Westerlund, "Towards Managing Industrial Robot Fleets with Hyperledger Fabric Blockchain and ROS 2", arXiv preprint (2022) . (View) (Download) (arXiv)

[5] Yu Xianjia, Jorge Peña Queralta, Jukka Heikkonen, Tomi Westerlund, "Federated Learning in Robotic and Autonomous Systems", Procedia Computer Science , Elsevier (2021) . 18th International Conference on Mobile Systems and Pervasive Computing (MobiSPC-2021). (View) (Download) (Google Scholar) (arXiv)

[6] Yu Xianjia, Li Qingqing, Jorge Peña Queralta, Jukka Heikkonen, Tomi Westerlund, "Cooperative UWB-Based Localization for Outdoors Positioning and Navigation of UAVs aided by Ground Robots", IEEE International Conference on Autonomous Systems (IEEE ICAS 2021) , IEEE (2021) . (View) (Download)

[7] Yu Xianjia, Li Qingqing, Jorge Peña Queralta, Jukka Heikkonen, Tomi Westerlund, "Applications of UWB Networks and Positioning to Autonomous Robots and Industrial Systems", Cyber-Physical Systems of Systems (CPSoS) and Internet of Things (IoT) Conference , IEEE (2021) . (View) (Download)

[8] Jorge Peña Queralta, Li Qingqing, Eduardo Castelló Ferrer, Tomi Westerlund, "Secure Encoded Instruction Graphs for End-to-End Data Validation in Autonomous Robots", IEEE Internet of Things Journal (to appear) , IEEE (2022) . (View) (Download) (Researchgate) (arXiv)

[9] Jorge Peña Queralta and Tomi Westerlund, "Blockchain for Mobile Edge Computing: Consensus Mechanisms and Scalability", Mobile Edge Computing (Book Chapter) , Springer (2021) . (View) (Download) (Researchgate) (arXiv)

[10] Jorge Peña Queralta, Li Qingqing, Zhuo Zou, and Tomi Westerlund, "Enhancing Autonomy with Blockchain and Multi-Access Edge Computing in Distributed Robotic Systems", The Fifth International Conference on Fog and Mobile Edge Computing (FMEC 2020) , IEEE (2020) . (View) (Download)