UWB Localization

Ongoing Projects

Publications

2023

[3] Xianjia Yu, Paola Torrico Morón, Sahar Salimpour, Jorge Peña Queralta, Tomi Westerlund, "Loosely Coupled Odometry, UWB Ranging, and Cooperative Spatial Detections for Relative Monte-Carlo Multi-Robot Localization", arXiv (2023) . (View) (Download)

[2] Sahar Salimpour, Paola Torrico Morón, Xianjia Yu, Jorge Peña Queralta and Tomi Westerlund, "Exploiting Redundancy for UWB Anomaly Detection in Infrastructure-Free Multi-Robot Relative Localization", arXiv preprint , arXiv:2303.17207 (2023) . (View) (Download)

[1] Lei Fu, Paola Torrico Morón, Jorge Peña Queralta, David Hästbacka, Harry Edelman, Tomi Westerlund, "Is Alice Really in Wonderland? UWB-Based Proof of Location for UAVs with Hyperledger Fabric Blockchain", arXiv preprint arXiv:2304.00795 (2023) . (View) (Download)

2022

[3] Salma Salimi, Paola Torrico Morón, Jorge Peña Queralta, Tomi Westerlund, "Secure Heterogeneous Multi-Robot Collaboration and Docking with Hyperledger Fabric Blockchain", IEEE 8th World Forum on Internet of Things , IEEE (2022) . (View) (Download)

[2] Paola Torrico Morón, Salma Salimi, Jorge Peña Queralta, Tomi Westerlund, "UWB Role Allocation with Distributed Ledger Technologies for Scalable Relative Localization in Multi-Robot Systems", IEEE International Symposium on ROSE 2022 , IEEE (2022) . (View) (Download) (Google Scholar) None

[1] Paola Torrico Morón, Jorge Peña Queralta, Tomi Westerlund, "Towards Large-Scale Relative Localization in Multi-Robot Systems with Dynamic UWB Role Allocation", 2022 7th International Conference on Robotics and Automation Engineering , IEEE (2022) . (View) (Download)

Ongoing Projects

Publications

2023

[7] Ha Sier, Xianjia Yu, Iacopo Catalano, Jorge Peña Queralta, Zhuo Zou , Tomi Westerlund, "UAV Tracking with Lidar as a Camera Sensors in GNSS-Denied Environments", Accepted to the International Conference on Localization and GNSS , IEEE (to appear) (2023) . (View) (Download) None

[6] Iacopo Catalano, Ha Sier, Xianja Yu, Jorge Peña Queralta, Tomi Westerlund, "UAV Tracking with Solid-State Lidars: Dynamic Multi-Frequency Scan Integration", arXiv (2023) . (View) (Download) None

[5] Jorge Peña Queralta, Farhad Keramat, Salma Salimi, Lei Fu, Xianjia Yu and Tomi Westerlund, "Blockchain and Emerging Distributed Ledger Technologies for Decentralized Multi-Robot Systems", Current Robotics Reports (to appear) , Springer (2023) . (View) (Download)

[4] Xianjia Yu, Paola Torrico Morón, Sahar Salimpour, Jorge Peña Queralta, Tomi Westerlund, "Loosely Coupled Odometry, UWB Ranging, and Cooperative Spatial Detections for Relative Monte-Carlo Multi-Robot Localization", arXiv (2023) . (View) (Download)

[3] Sahar Salimpour, Paola Torrico Morón, Xianjia Yu, Jorge Peña Queralta and Tomi Westerlund, "Exploiting Redundancy for UWB Anomaly Detection in Infrastructure-Free Multi-Robot Relative Localization", arXiv preprint , arXiv:2303.17207 (2023) . (View) (Download)

[2] Li Qingqing, Yu Xianjia, Jorge Peña Queralta, Tomi Westerlund, "Robust Multi-Modal Multi-LiDAR-Inertial Odometry and Mapping for Indoor Environments", arXiv preprint , arXiv (2023) . (View) (Download)

[1] Yu Xianjia, Sahar Salimpour, Jorge Peña Queralta, Tomi Westerlund, "Analyzing General-Purpose Deep-Learning Detection and Segmentation Models with Images from a Lidar as a Camera Sensor", Sensors , MDPI (2023) . (View) (Download) Presented at the International Conference on Intelligent Systems Design and Engineering Applications (ISDEA)

2022

[5] Jiaqiang Zhang, Farhad Keramat, Xianjia Yu, Daniel Montero Hernández, Jorge Peña Queralta, Tomi Westerlund, "Distributed Robotic Systems in the Edge-Cloud Continuum with ROS 2: a Review on Novel Architectures and Technology Readiness", Seventh International Conference on Fog and Mobile Edge Computing (FMEC 2022) , IEEE (2022) . (View) (Download)

[4] Ha Sier, Li Qingqing, Yu Xianjia, Jorge Peña Queralta, Zhuo Zou, Tomi Westerlund, "A Benchmark for Multi-Modal Lidar SLAM with Ground Truth in GNSS-Denied Environments", arXiv:2210.00812 , arXiv (2022) . (View) (Download)

[3] Yu Xianjia, Jorge Peña Queralta, Tomi Westerlund, "Federated Learning for Vision-based Obstacle Avoidance in the Internet of Robotic Things", Seventh International Conference on Fog and Mobile Edge Computing (FMEC 2022) , IEEE (2022) . (View) (Download)

[2] Li Qingqing, Yu Xianjia, Jorge Peña Queralta and Tomi Westerlund, "Multi-Modal Lidar Dataset for Benchmarking General-Purpose Localization and Mapping Algorithms", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , IEEE (2022) . (View) (Download)

[1] Yu Xianjia, Jorge Peña Queralta, Tomi Westerlund, "Towards Lifelong Federated Learning in Autonomous Mobile Robots with Continuous Sim-to-Real Transfer", Procedia Computer Science , Elsevier (2022) . Presented at EUSPN/ICTH 2022. (View) (Download)

2021

[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)

[4] 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)

[3] 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)

[2] Jorge Peña Queralta, Yu Xianjia, Li Qingqing, Tomi Westerlund, "Towards Large-Scale Scalable MAV Swarms with ROS2 and UWB-based Situated Communication", R2T2: Robotics Research for Tomorrow's Technology, organized by TII (2021) . Best paper award. (View) (Download)

[1] Li Qingqing, Yu Xianjia, Jorge Peña Queralta, Tomi Westerlund, "Adaptive Lidar Scan Frame Integration: Tracking Known MAVs in 3D Point Clouds", 20th International Conference on Advanced Robotics (ICAR) , IEEE (2021) . (View) (Download)

Ongoing Projects

Publications

2023

[1] Li Qingqing, Yu Xianjia, Jorge Peña Queralta, Tomi Westerlund, "Robust Multi-Modal Multi-LiDAR-Inertial Odometry and Mapping for Indoor Environments", arXiv preprint , arXiv (2023) . (View) (Download)

2022

[4] Ha Sier, Li Qingqing, Yu Xianjia, Jorge Peña Queralta, Zhuo Zou, Tomi Westerlund, "A Benchmark for Multi-Modal Lidar SLAM with Ground Truth in GNSS-Denied Environments", arXiv:2210.00812 , arXiv (2022) . (View) (Download)

[3] Li Qingqing, Yu Xianjia, Jorge Peña Queralta and Tomi Westerlund, "Multi-Modal Lidar Dataset for Benchmarking General-Purpose Localization and Mapping Algorithms", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , IEEE (2022) . (View) (Download)

[2] Jorge Peña Queralta, Li Qingqing, Fabrizio Schiano, Tomi Westerlund, "VIO-UWB-Based Collaborative Localization and Dense Scene Reconstruction within Heterogeneous Multi-Robot Systems", IEEE International Conference on Advanced Robotics and Mechatronics , IEEE (2022) . (View) (Download)

[1] 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 , IEEE (2022) . (View) (Download) (Researchgate) (Google Scholar)

2021

[6] Paavo Nevalainen, Qingqing LI, Timo Melkas, Kirsi Riekki, Tomi Westerlund, Jukka Heikkonen, "Navigation and Mapping in Forest Environment Using Sparse Point Clouds", Remote Sensing , MDPI (2021) . (View) (Download) (Researchgate)

[5] Li Qingqing, Jussi Taipalmaa, Jorge Peña Queralta, Tuan Nguyen Gia, Moncef Gabbouj, Hannu Tenhunen, Jenni Raitoharju, Tomi Westerlund, "Towards Active Vision with UAVs in Marine Search and Rescue: Analyzing Human Detection at Variable Altitudes", IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) , IEEE (2021) . (View) (Download) (Researchgate)

[4] 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)

[3] 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)

[2] Jorge Peña Queralta, Yu Xianjia, Li Qingqing, Tomi Westerlund, "Towards Large-Scale Scalable MAV Swarms with ROS2 and UWB-based Situated Communication", R2T2: Robotics Research for Tomorrow's Technology, organized by TII (2021) . Best paper award. (View) (Download)

[1] Li Qingqing, Yu Xianjia, Jorge Peña Queralta, Tomi Westerlund, "Adaptive Lidar Scan Frame Integration: Tracking Known MAVs in 3D Point Clouds", 20th International Conference on Advanced Robotics (ICAR) , IEEE (2021) . (View) (Download)

2020

[7] Wenshuai Zhao, Jorge Peña Queralta, Li Qingqing, Tomi Westerlund, "Ubiquitous Distributed Deep Reinforcement Learning at the Edge: Analyzing Byzantine Agents in Discrete Action Spaces", The 11th International Conference on Emerging Ubiquitous Systems and Pervasive Networks (EUSPN 2020) , Elsevier (2020) . (View) (Download) (Researchgate)

[6] Wenshuai Zhao, Jorge Peña Queralta, Li Qingqing, Tomi Westerlund, "Towards Closing the Sim-to-Real Gap in Collaborative Multi-Robot Deep Reinforcement Learning", 5th International Conference on Robotics and Automation Engineering , IEEE (2020) . (View) (Download) (Researchgate)

[5] Li Qingqing, Paavo Nevalainen, Jorge Peña Queralta, Jukka Heikkonen and Tomi Westerlund, "Localization in Unstructured Environments: Towards Autonomous Robots in Forests with Delaunay Triangulation", Remote Sensing , MDPI (2020) . (View) (Download) (Researchgate)

[4] Victor Kathan Sarker, Li Qingqing and Tomi Westerlund, "3D Perception with Low-cost 2D LIDAR and Edge Computing for Enhanced Obstacle Detection", IEEE International Conference on Industrial Cyber-Physical Systems (ICPS) , IEEE (2020) . (View) (Download) (Researchgate)

[3] Jorge Peña Queralta, Li Qingqing, Tuan Nguyen Gia, Hong-Linh Truong, Tomi Westerlund, "End-to-End Design for Self-Reconfigurable Heterogeneous Robotic Swarms", International Conference on Distributed Computing in Sensor Systems (DCOSS) , IEEE (2020) . (View) (Download) (Researchgate)

[2] Jorge Peña Queralta, Li Qingqing, Zhuo Zou, 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)

[1] Li Qingqing, Jorge Peña Queralta, Tuan Nguyen Gia, Zhuo Zou, Tomi Westerlund, "Multi Sensor Fusion for Navigation and Mapping in Autonomous Vehicles: Accurate Localization in Urban Environments", Unmanned Systems (2020) . The 9th IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and the 9th IEEE International Conference on Robotics, Automation and Mechatronics (RAM). (View) (Download) (Researchgate) Nominated to Best Paper Award.

2019

[8] Li Qingqing, Jorge Peña Queralta, Tuan Nguyen Gia, Tomi Westerlund, "Offloading Monocular Visual Odometry with Edge Computing: Optimizing Image Quality in Multi-Robot Systems", The 5th International Conference on Systems, Control and Communications , ACM (2019) . (View) (Download) (Researchgate)

[7] Jorge Peña Queralta, Li Qingqing, Tuan Nguyen Gia, Zhuo Zou, Hannu Tenhunen and Tomi Westerlund, "Distributed Progressive Formation Control with One-Way Communication for Multi-Agent Systems", IEEE Symposium Series on Computational Intelligence , IEEE (2019) . (View) (Download) (Researchgate)

[6] Tuan Nguyen Gia, Qingqing Li, Jorge Peña Queralta, Zhuo zou, Hannu Tenhunen, Tomi Westerlund, "Lossless Compression Techniques in Edge Computing for Mission-Critical Applications in the IoT", The 12th International Conference on Mobile Computing and Ubiquitous Networking , IEEE (2019) . (View) (Download)

[5] Li Qingqing, Jorge Peña Queralta, Tuan Nguyen Gia, Hannu Tenhunen, Zhou Zou and Tomi Westerlund, "Visual Odometry Offloading in Internet of Vehicles with Compression at the Edge of the Network", The 12th International Conference on Mobile Computing and Ubiquitous Networking (2019) . (View) (Download) (Researchgate)

[4] Li Qingqing, Fu Yuhong, Jorge Peña Queralta, Tuan Nguyen Gia, Hannu Tenhunen, Zhou Zou and Tomi Westerlund, "Edge Computing for Mobile Robots:Multi-Robot Feature-Based Lidar Odometry with FPGAs", The 12th International Conference on Mobile Computing and Ubiquitous Networking (2019) . (View) (Download) (Researchgate) Best Student Poster Award

[3] Jorge Peña Queralta, Fu Yuhong, Lassi Salomaa, Li Qingqing, Tuan Nguyen Gia, Zhuo Zou, Hannu Tenhunen and Tomi Westerlund, "FPGA-based Architecture for a Low-Cost 3D Lidar Design and Implementation from Multiple Rotating 2D Lidars with ROS", IEEE Sensors Conference , IEEE (2019) . (View) (Download) (Researchgate)

[2] Li Qingqing, Jorge Peña Queralta, Tuan Nguyen Gia, Zhuo Zou, Hannu Tenhunen and Tomi Westerlund, "Detecting Water Reflection Symmetries in Point Clouds for Camera Position Calibration in Unmanned Surface Vehicles", The 19th International Symposium on Communications and Information Technologies (ISCIT) , IEEE (2019) . (View) (Download) (Researchgate)

[1] Tuan Nguyen Gia, Li Qingqing, Jorge Peña Queralta, Zhuo Zou, Hannu Tenhunen and Tomi Westerlund, "Edge AI in Smart Farming IoT: CNNs at the Edge and Fog Computing with LoRa", IEEE AFRICON 2019 , IEEE (2019) . (View) (Download) (Researchgate)

Ongoing Projects

Publications

2023

[14] Ha Sier, Xianjia Yu, Iacopo Catalano, Jorge Peña Queralta, Zhuo Zou , Tomi Westerlund, "UAV Tracking with Lidar as a Camera Sensors in GNSS-Denied Environments", Accepted to the International Conference on Localization and GNSS , IEEE (to appear) (2023) . (View) (Download) None

[13] Lei Fu, Salma Salimi, Jorge Peña Queralta, Tomi Westerlund, "Event-driven Fabric Blockchain - ROS 2 Interface: Towards Secure and Auditable Teleoperation of Mobile Robots", Ubiquitous Robots , IEEE (to appear) (2023) . (View) (Download)

[12] Farhad Keramat, Jorge Peña Queralta, Tomi Westerlund, "Partition-Tolerant and Byzantine-Tolerant Decision-Making for Distributed Robotic Systems with IOTA and ROS 2", IEEE Internet of Things Journal , IEEE (2023) . (to appear). (View) (Download)

[11] Iacopo Catalano, Ha Sier, Xianja Yu, Jorge Peña Queralta, Tomi Westerlund, "UAV Tracking with Solid-State Lidars: Dynamic Multi-Frequency Scan Integration", arXiv (2023) . (View) (Download) None

[10] Phuoc Nguyen Thuan, Jorge Peña Queralta, Tomi Westerlund, "Simulation Analysis of Exploration Strategies and UAV Planning for Search and Rescue", arxiv (2023) . (View) (Download) None

[9] Iacopo Catalano, Jorge Peña Queralta, Tomi Westerlund, "Evaluating the Performance of Multi-Scan Integration for UAV LiDAR-based Tracking", arXiv preprint (2023) . (View) (Download)

[8] Jorge Peña Queralta, Farhad Keramat, Salma Salimi, Lei Fu, Xianjia Yu and Tomi Westerlund, "Blockchain and Emerging Distributed Ledger Technologies for Decentralized Multi-Robot Systems", Current Robotics Reports (to appear) , Springer (2023) . (View) (Download)

[7] Xianjia Yu, Paola Torrico Morón, Sahar Salimpour, Jorge Peña Queralta, Tomi Westerlund, "Loosely Coupled Odometry, UWB Ranging, and Cooperative Spatial Detections for Relative Monte-Carlo Multi-Robot Localization", arXiv (2023) . (View) (Download)

[6] Sahar Salimpour, Paola Torrico Morón, Xianjia Yu, Jorge Peña Queralta and Tomi Westerlund, "Exploiting Redundancy for UWB Anomaly Detection in Infrastructure-Free Multi-Robot Relative Localization", arXiv preprint , arXiv:2303.17207 (2023) . (View) (Download)

[5] Lei Fu, Paola Torrico Morón, Jorge Peña Queralta, David Hästbacka, Harry Edelman, Tomi Westerlund, "Is Alice Really in Wonderland? UWB-Based Proof of Location for UAVs with Hyperledger Fabric Blockchain", arXiv preprint arXiv:2304.00795 (2023) . (View) (Download)

[4] Li Qingqing, Yu Xianjia, Jorge Peña Queralta, Tomi Westerlund, "Robust Multi-Modal Multi-LiDAR-Inertial Odometry and Mapping for Indoor Environments", arXiv preprint , arXiv (2023) . (View) (Download)

[3] Phuoc Nguyen Thuan, Jorge Peña Queralta, Tomi Westerlund, "Vision-based Safe Autonomous UAV Docking with Panoramic Sensors", arXiv (2023) . (View) (Download) None

[2] Yu Xianjia, Sahar Salimpour, Jorge Peña Queralta, Tomi Westerlund, "Analyzing General-Purpose Deep-Learning Detection and Segmentation Models with Images from a Lidar as a Camera Sensor", Sensors , MDPI (2023) . (View) (Download) Presented at the International Conference on Intelligent Systems Design and Engineering Applications (ISDEA)

[1] Salma Salimi, Jorge Peña Queralta, Tomi Westerlund, "Hyperledger Fabric Blockchain and ROS 2 Integration for Autonomous Mobile Robots", IEEE/SICE International Symposium on System Integration , IEEE (2023) . (View) (Download)

2022

[14] Jiaqiang Zhang, Farhad Keramat, Xianjia Yu, Daniel Montero Hernández, Jorge Peña Queralta, Tomi Westerlund, "Distributed Robotic Systems in the Edge-Cloud Continuum with ROS 2: a Review on Novel Architectures and Technology Readiness", Seventh International Conference on Fog and Mobile Edge Computing (FMEC 2022) , IEEE (2022) . (View) (Download)

[13] Ha Sier, Li Qingqing, Yu Xianjia, Jorge Peña Queralta, Zhuo Zou, Tomi Westerlund, "A Benchmark for Multi-Modal Lidar SLAM with Ground Truth in GNSS-Denied Environments", arXiv:2210.00812 , arXiv (2022) . (View) (Download)

[12] Yu Xianjia, Jorge Peña Queralta, Tomi Westerlund, "Federated Learning for Vision-based Obstacle Avoidance in the Internet of Robotic Things", Seventh International Conference on Fog and Mobile Edge Computing (FMEC 2022) , IEEE (2022) . (View) (Download)

[11] Salma Salimi, Paola Torrico Morón, Jorge Peña Queralta, Tomi Westerlund, "Secure Heterogeneous Multi-Robot Collaboration and Docking with Hyperledger Fabric Blockchain", IEEE 8th World Forum on Internet of Things , IEEE (2022) . (View) (Download)

[10] Montero Hernández, Daniel; Peña Queralta, Jorge; Westerlund, Tomi, "Distributed Ledger Technologies for Managing Heterogenous Computing Systems at the Edge", International Conference on Internet of Things: Systems, Management and Security (IOTSMS) 2022 , IEEE (2022) . (View) (Download) (Google Scholar)

[9] Marius-Mihail Gurgu, Jorge Peña Queralta, Tomi Westerlund, "Vision-based GNSS-Free Localization for UAVs in the Wild", 7th International Conference on Mechanical Engineering and Robotics Research , IEEE (2022) . (View) (Download)

[8] Sahar Salimpour, Farhad Keramat, Jorge Peña Queralta, Tomi Westerlund, "Decentralized Vision-Based Byzantine Agent Detection in Multi-Robot Systems with IOTA Smart Contracts", International Symposium on Foundations & Practice of Security (FPS – 2022) , Springer (2022) . (View) (Download) None

[7] Li Qingqing, Yu Xianjia, Jorge Peña Queralta and Tomi Westerlund, "Multi-Modal Lidar Dataset for Benchmarking General-Purpose Localization and Mapping Algorithms", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , IEEE (2022) . (View) (Download)

[6] Yu Xianjia, Jorge Peña Queralta, Tomi Westerlund, "Towards Lifelong Federated Learning in Autonomous Mobile Robots with Continuous Sim-to-Real Transfer", Procedia Computer Science , Elsevier (2022) . Presented at EUSPN/ICTH 2022. (View) (Download)

[5] Paola Torrico Morón, Salma Salimi, Jorge Peña Queralta, Tomi Westerlund, "UWB Role Allocation with Distributed Ledger Technologies for Scalable Relative Localization in Multi-Robot Systems", IEEE International Symposium on ROSE 2022 , IEEE (2022) . (View) (Download) (Google Scholar) None

[4] Sahar Salimpour, Jorge Peña Queralta, Tomi Westerlund, "Self-Calibrating Anomaly and Change Detection for Autonomous Inspection Robots", IEEE Robotic Computing , IEEE (2022) . (View) (Download)

[3] Jorge Peña Queralta, Li Qingqing, Fabrizio Schiano, Tomi Westerlund, "VIO-UWB-Based Collaborative Localization and Dense Scene Reconstruction within Heterogeneous Multi-Robot Systems", IEEE International Conference on Advanced Robotics and Mechatronics , IEEE (2022) . (View) (Download)

[2] Paola Torrico Morón, Jorge Peña Queralta, Tomi Westerlund, "Towards Large-Scale Relative Localization in Multi-Robot Systems with Dynamic UWB Role Allocation", 2022 7th International Conference on Robotics and Automation Engineering , IEEE (2022) . (View) (Download)

[1] 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 , IEEE (2022) . (View) (Download) (Researchgate) (Google Scholar)

2021

[9] Paavo Nevalainen, Parisa Movahedi, Jorge Peña Queralta, Tomi Westerlund, Jukka Heikkonen, "Long-Term Autonomy in Forest Environment using Self-Corrective SLAM", Book Chapter , Springer (2021) . Presented at FinDrones 2020. (View) (Download)

[8] Li Qingqing, Jussi Taipalmaa, Jorge Peña Queralta, Tuan Nguyen Gia, Moncef Gabbouj, Hannu Tenhunen, Jenni Raitoharju, Tomi Westerlund, "Towards Active Vision with UAVs in Marine Search and Rescue: Analyzing Human Detection at Variable Altitudes", IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) , IEEE (2021) . (View) (Download) (Researchgate)

[7] Wenshuai Zhao, Jorge Peña Queralta, Tomi Westerlund, "Sim-to-Real Transfer in Deep Reinforcement Learning for Robotics: a Survey", IEEE Symposium Series on Computational Intelligence , IEEE (2021) . (View) (Download) (Researchgate)

[6] 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)

[5] 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)

[4] 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)

[3] 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)

[2] Jorge Peña Queralta, Yu Xianjia, Li Qingqing, Tomi Westerlund, "Towards Large-Scale Scalable MAV Swarms with ROS2 and UWB-based Situated Communication", R2T2: Robotics Research for Tomorrow's Technology, organized by TII (2021) . Best paper award. (View) (Download)

[1] Li Qingqing, Yu Xianjia, Jorge Peña Queralta, Tomi Westerlund, "Adaptive Lidar Scan Frame Integration: Tracking Known MAVs in 3D Point Clouds", 20th International Conference on Advanced Robotics (ICAR) , IEEE (2021) . (View) (Download)

2020

[15] Jorge Peña Queralta, Jussi Taipalmaa, Bilge Can Pullinen, Victor Kathan Sarker, Tuan Nguyen Gia, Hannu Tenhunen, Moncef Gabbouj, Jenni Raitoharju, Tomi Westerlund, "Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception and Active Vision", IEEE Access , IEEE (2020) . (View) (Download) (Google Scholar)

[14] Wenshuai Zhao, Jorge Peña Queralta, Li Qingqing, Tomi Westerlund, "Ubiquitous Distributed Deep Reinforcement Learning at the Edge: Analyzing Byzantine Agents in Discrete Action Spaces", The 11th International Conference on Emerging Ubiquitous Systems and Pervasive Networks (EUSPN 2020) , Elsevier (2020) . (View) (Download) (Researchgate)

[13] Wenshuai Zhao, Jorge Peña Queralta, Li Qingqing, Tomi Westerlund, "Towards Closing the Sim-to-Real Gap in Collaborative Multi-Robot Deep Reinforcement Learning", 5th International Conference on Robotics and Automation Engineering , IEEE (2020) . (View) (Download) (Researchgate)

[12] Jorge Peña Queralta, Carmen Martínez Almansa, Fabrizio Schiano, Dario Floreano, Tomi Westerlund, "UWB-based System for UAV Localization in GNSS-Denied Environments: Characterization and Dataset", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , IEEE (2020) . (View) (Download)

[11] Wang Shule, Carmen Martínez Almansa, Jorge Peña Queralta, Zhuo Zou, Tomi Westerlund, "UWB-Based Localization for Multi-UAV Systems and Collaborative Heterogeneous Multi-Robot Systems: a Survey", Procedia Computer Science , Elsevier (2020) . The 15th International Conference on Future Networks and Communications. (View) (Download)

[10] Jorge Peña Queralta and Tomi Westerlund, "Blockchain-Powered Collaboration in Heterogeneous Swarms of Robots", Preprint (2020) . Presented at the 2019 Symposium on Blockchain for Robotics and AI Systems, MIT Media Lab. (View) (Download) (Researchgate) (Google Scholar)

[9] Anum Nawaz, Jorge Peña Queralta, Jixin Guan, Muhammad Awais, Tuan Nguyen Gia, Ali Kashif, Haibin Kan, Tomi Westerlund, "Edge Computing to Secure IoT Data Ownership and Trade with the Ethereum Blockchain", Sensors , MDPI (2020) . (View) (Download) (Researchgate) (Google Scholar)

[8] Wenshuai Zhao, Dihong Jiang, Jorge Peña Queralta, Tomi Westerlund, "Multi-Scale Supervised 3D U-Net for Kidneys and Kidney Tumor Segmentation", Informatics in Medicine Unlocked , Elsevier (2020) . (View) (Download)

[7] Carmen Martínez Almansa, Wang Shule, Jorge Peña Queralta, Tomi Westerlund, "Autocalibration of a Mobile UWB Localization System for Ad-Hoc Multi-Robot Deployments in GNSS-Denied Environments", International Conference on Localization and GNSS (ICL-GNSS 2020) , CEUR WS Proceedings (2020) . (View) (Download)

[6] Jorge Peña Queralta, Jenni Raitoharju, Tuan Nguyen Gia, Nikolaos Passalis, Tomi Westerlund, "AutoSOS: Towards Multi-UAV Systems Supporting Maritime Search and Rescue with Lightweight AI and Edge Computing", arXiv preprint , arXiv (2020) . (View) (Download)

[5] Li Qingqing, Paavo Nevalainen, Jorge Peña Queralta, Jukka Heikkonen and Tomi Westerlund, "Localization in Unstructured Environments: Towards Autonomous Robots in Forests with Delaunay Triangulation", Remote Sensing , MDPI (2020) . (View) (Download) (Researchgate)

[4] Jorge Peña Queralta, Li Qingqing, Tuan Nguyen Gia, Hong-Linh Truong, Tomi Westerlund, "End-to-End Design for Self-Reconfigurable Heterogeneous Robotic Swarms", International Conference on Distributed Computing in Sensor Systems (DCOSS) , IEEE (2020) . (View) (Download) (Researchgate)

[3] Jorge Peña Queralta, Li Qingqing, Zhuo Zou, 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)

[2] Li Qingqing, Jorge Peña Queralta, Tuan Nguyen Gia, Zhuo Zou, Tomi Westerlund, "Multi Sensor Fusion for Navigation and Mapping in Autonomous Vehicles: Accurate Localization in Urban Environments", Unmanned Systems (2020) . The 9th IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and the 9th IEEE International Conference on Robotics, Automation and Mechatronics (RAM). (View) (Download) (Researchgate) Nominated to Best Paper Award.

[1] Tuan Nguyen Gia, Jorge Peña Queralta, Tomi Westerlund, "Exploiting LoRa, edge, and fog computing for traffic monitoring in smart cities", LPWAN Technologies for IoT and M2M Applications , Elsevier (2020) . (View) (Download) (Researchgate) (Google Scholar)

2019

[19] Li Qingqing, Jorge Peña Queralta, Tuan Nguyen Gia, Tomi Westerlund, "Offloading Monocular Visual Odometry with Edge Computing: Optimizing Image Quality in Multi-Robot Systems", The 5th International Conference on Systems, Control and Communications , ACM (2019) . (View) (Download) (Researchgate)

[18] Jorge Peña Queralta, Li Qingqing, Tuan Nguyen Gia, Zhuo Zou, Hannu Tenhunen and Tomi Westerlund, "Distributed Progressive Formation Control with One-Way Communication for Multi-Agent Systems", IEEE Symposium Series on Computational Intelligence , IEEE (2019) . (View) (Download) (Researchgate)

[17] Tuan Nguyen Gia, Anum Nawaz, Jorge Peña Queralta, Hannu Tenhunen, Tomi Westerlund, "Artificial Intelligence at the Edge in the Blockchain of Things", Wireless Mobile Communication and Healthcare. MobiHealth 2019. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering , Springer (2019) . Presented at the 8th EAI International Conference on Wireless Mobile Communication and Healthcare. (View) (Download) (Researchgate)

[16] Anum Nawaz, Tuan Nguyen Gia, Jorge Peña Queralta and Tomi Westerlund, "Edge AI and Blockchain for Privacy-Critical and Data-Sensitive Applications", Twelfth International Conference on Mobile Computing and Ubiquitous Network (ICMU) , IEEE (2019) . (View) (Download) (Researchgate)

[15] Tuan Nguyen Gia, Qingqing Li, Jorge Peña Queralta, Zhuo zou, Hannu Tenhunen, Tomi Westerlund, "Lossless Compression Techniques in Edge Computing for Mission-Critical Applications in the IoT", The 12th International Conference on Mobile Computing and Ubiquitous Networking , IEEE (2019) . (View) (Download)

[14] Li Qingqing, Jorge Peña Queralta, Tuan Nguyen Gia, Hannu Tenhunen, Zhou Zou and Tomi Westerlund, "Visual Odometry Offloading in Internet of Vehicles with Compression at the Edge of the Network", The 12th International Conference on Mobile Computing and Ubiquitous Networking (2019) . (View) (Download) (Researchgate)

[13] Li Qingqing, Fu Yuhong, Jorge Peña Queralta, Tuan Nguyen Gia, Hannu Tenhunen, Zhou Zou and Tomi Westerlund, "Edge Computing for Mobile Robots:Multi-Robot Feature-Based Lidar Odometry with FPGAs", The 12th International Conference on Mobile Computing and Ubiquitous Networking (2019) . (View) (Download) (Researchgate) Best Student Poster Award

[12] Henrique Gonçalves Nogueira, Jorge Peña Queralta, Tommi Otsavaara and Tomi Westerlund, "Extending IoT Connectivity of Embedded Devices with M2M High-Speed Acoustic Data Transmission", The 5th International Conference on Communication and Information Processing , ACM (2019) . (View) (Download)

[11] Jorge Peña Queralta, Fu Yuhong, Lassi Salomaa, Li Qingqing, Tuan Nguyen Gia, Zhuo Zou, Hannu Tenhunen and Tomi Westerlund, "FPGA-based Architecture for a Low-Cost 3D Lidar Design and Implementation from Multiple Rotating 2D Lidars with ROS", IEEE Sensors Conference , IEEE (2019) . (View) (Download) (Researchgate)

[10] Aly Metwaly, Jorge Peña Queralta, Victor Kathan Sarker, Tuan Nguyen Gia, Omar Nasir, Tomi Westerlund, "Edge Computing with Embedded AI: Thermal Image Analysis for Occupancy Estimation in Intelligent Buildings", INTelligent Embedded Systems Architectures and Applications, INTESA@ESWEEK 2019 , ACM (2019) . (View) (Download) (Researchgate)

[9] Li Qingqing, Jorge Peña Queralta, Tuan Nguyen Gia, Zhuo Zou, Hannu Tenhunen and Tomi Westerlund, "Detecting Water Reflection Symmetries in Point Clouds for Camera Position Calibration in Unmanned Surface Vehicles", The 19th International Symposium on Communications and Information Technologies (ISCIT) , IEEE (2019) . (View) (Download) (Researchgate)

[8] Cassandra McCord, Jorge Peña Queralta, Tuan Nguyen Gia and Tomi Westerlund, "Distributed Progressive Formation Control for Multi-Agent Systems: 2D and 3D deployment of UAVs in ROS/Gazebo with RotorS", European Conference on Mobile Robots (ECMR) , IEEE (2019) . (View) (Download)

[7] Jorge Peña Queralta, Tuan Nguyen Gia, Hannu Tenhunen and Tomi Westerlund, "Edge-AI in LoRa-based Health Monitoring: Fall Detection System with Fog Computing and LSTM Recurrent Neural Networks", 42nd International Conference on Telecommunications and Signal Processing (TSP) , IEEE (2019) . (View) (Download) (Researchgate)

[6] Victor Kathan Sarker, Jorge Peña Queralta, Tuan Nguyen Gia, Hannu Tenhunen and Tomi Westerlund, "A Survey on LoRa for IoT: Integrating Edge Computing", International Workshop on Smart Living with IoT, Cloud and Edge Computing , IEEE (2019) . (View) (Download) (Researchgate)

[5] Victor Kathan Sarker, Jorge Peña Queralta, Tuan Nguyen Gia, Hannu Tenhunen and Tomi Westerlund, "Offloading SLAM for Indoor Mobile Robots with Edge-Fog-Cloud Computing", International Conference on Advances in Science, Engineering and Robotics Technology , IEEE (2019) . (View) (Download) (Researchgate)

[4] Jorge Peña Queralta, Tuan Nguyen Gia, Hannu Tenhunen and Tomi Westerlund, "Collaborative Mapping with IoE-based Heterogeneous Vehicles for Enhanced Situational Awareness", IEEE Sensors Applications Symposium 2019 , IEEE (2019) . (View) (Download) (Researchgate)

[3] Tuan Nguyen Gia, Li Qingqing, Jorge Peña Queralta, Zhuo Zou, Hannu Tenhunen and Tomi Westerlund, "Edge AI in Smart Farming IoT: CNNs at the Edge and Fog Computing with LoRa", IEEE AFRICON 2019 , IEEE (2019) . (View) (Download) (Researchgate)

[2] Jorge Peña Queralta, Tuan Nguyen Gia, Zhuo Zou, Hannu Tenhunen, Tomi Westerlund, "Comparative Study of LPWAN Technologies on Unlicensed Bands for M2M Communication in the IoT: beyond LoRa and LoRaWAN", Procedia Computer Science , Elsevier (2019) . The 14th International Conference on Future Networks and Communications (FNC). (View) (Download) (Researchgate)

[1] Jorge Peña Queralta, Cassandra McCord, Tuan Nguyen Gia, Hannu Tenhunen and Tomi Westerlund, "Communication-free and Index-free Distributed Formation Control Algorithm for Multi-robot Systems", Procedia Computer Science , Elsevier (2019) . The 10th International Conference on Ambient Systems, Networks and Technologies (ANT). (View) (Download) (Researchgate)

Ongoing Projects

Publications

2023

[14] Ha Sier, Xianjia Yu, Iacopo Catalano, Jorge Peña Queralta, Zhuo Zou , Tomi Westerlund, "UAV Tracking with Lidar as a Camera Sensors in GNSS-Denied Environments", Accepted to the International Conference on Localization and GNSS , IEEE (to appear) (2023) . (View) (Download) None

[13] Lei Fu, Salma Salimi, Jorge Peña Queralta, Tomi Westerlund, "Event-driven Fabric Blockchain - ROS 2 Interface: Towards Secure and Auditable Teleoperation of Mobile Robots", Ubiquitous Robots , IEEE (to appear) (2023) . (View) (Download)

[12] Farhad Keramat, Jorge Peña Queralta, Tomi Westerlund, "Partition-Tolerant and Byzantine-Tolerant Decision-Making for Distributed Robotic Systems with IOTA and ROS 2", IEEE Internet of Things Journal , IEEE (2023) . (to appear). (View) (Download)

[11] Iacopo Catalano, Ha Sier, Xianja Yu, Jorge Peña Queralta, Tomi Westerlund, "UAV Tracking with Solid-State Lidars: Dynamic Multi-Frequency Scan Integration", arXiv (2023) . (View) (Download) None

[10] Phuoc Nguyen Thuan, Jorge Peña Queralta, Tomi Westerlund, "Simulation Analysis of Exploration Strategies and UAV Planning for Search and Rescue", arxiv (2023) . (View) (Download) None

[9] Iacopo Catalano, Jorge Peña Queralta, Tomi Westerlund, "Evaluating the Performance of Multi-Scan Integration for UAV LiDAR-based Tracking", arXiv preprint (2023) . (View) (Download)

[8] Jorge Peña Queralta, Farhad Keramat, Salma Salimi, Lei Fu, Xianjia Yu and Tomi Westerlund, "Blockchain and Emerging Distributed Ledger Technologies for Decentralized Multi-Robot Systems", Current Robotics Reports (to appear) , Springer (2023) . (View) (Download)

[7] Xianjia Yu, Paola Torrico Morón, Sahar Salimpour, Jorge Peña Queralta, Tomi Westerlund, "Loosely Coupled Odometry, UWB Ranging, and Cooperative Spatial Detections for Relative Monte-Carlo Multi-Robot Localization", arXiv (2023) . (View) (Download)

[6] Sahar Salimpour, Paola Torrico Morón, Xianjia Yu, Jorge Peña Queralta and Tomi Westerlund, "Exploiting Redundancy for UWB Anomaly Detection in Infrastructure-Free Multi-Robot Relative Localization", arXiv preprint , arXiv:2303.17207 (2023) . (View) (Download)

[5] Lei Fu, Paola Torrico Morón, Jorge Peña Queralta, David Hästbacka, Harry Edelman, Tomi Westerlund, "Is Alice Really in Wonderland? UWB-Based Proof of Location for UAVs with Hyperledger Fabric Blockchain", arXiv preprint arXiv:2304.00795 (2023) . (View) (Download)

[4] Li Qingqing, Yu Xianjia, Jorge Peña Queralta, Tomi Westerlund, "Robust Multi-Modal Multi-LiDAR-Inertial Odometry and Mapping for Indoor Environments", arXiv preprint , arXiv (2023) . (View) (Download)

[3] Phuoc Nguyen Thuan, Jorge Peña Queralta, Tomi Westerlund, "Vision-based Safe Autonomous UAV Docking with Panoramic Sensors", arXiv (2023) . (View) (Download) None

[2] Yu Xianjia, Sahar Salimpour, Jorge Peña Queralta, Tomi Westerlund, "Analyzing General-Purpose Deep-Learning Detection and Segmentation Models with Images from a Lidar as a Camera Sensor", Sensors , MDPI (2023) . (View) (Download) Presented at the International Conference on Intelligent Systems Design and Engineering Applications (ISDEA)

[1] Salma Salimi, Jorge Peña Queralta, Tomi Westerlund, "Hyperledger Fabric Blockchain and ROS 2 Integration for Autonomous Mobile Robots", IEEE/SICE International Symposium on System Integration , IEEE (2023) . (View) (Download)

2022

[16] Jiaqiang Zhang, Farhad Keramat, Xianjia Yu, Daniel Montero Hernández, Jorge Peña Queralta, Tomi Westerlund, "Distributed Robotic Systems in the Edge-Cloud Continuum with ROS 2: a Review on Novel Architectures and Technology Readiness", Seventh International Conference on Fog and Mobile Edge Computing (FMEC 2022) , IEEE (2022) . (View) (Download)

[15] Ha Sier, Li Qingqing, Yu Xianjia, Jorge Peña Queralta, Zhuo Zou, Tomi Westerlund, "A Benchmark for Multi-Modal Lidar SLAM with Ground Truth in GNSS-Denied Environments", arXiv:2210.00812 , arXiv (2022) . (View) (Download)

[14] Yu Xianjia, Jorge Peña Queralta, Tomi Westerlund, "Federated Learning for Vision-based Obstacle Avoidance in the Internet of Robotic Things", Seventh International Conference on Fog and Mobile Edge Computing (FMEC 2022) , IEEE (2022) . (View) (Download)

[13] Salma Salimi, Paola Torrico Morón, Jorge Peña Queralta, Tomi Westerlund, "Secure Heterogeneous Multi-Robot Collaboration and Docking with Hyperledger Fabric Blockchain", IEEE 8th World Forum on Internet of Things , IEEE (2022) . (View) (Download)

[12] Montero Hernández, Daniel; Peña Queralta, Jorge; Westerlund, Tomi, "Distributed Ledger Technologies for Managing Heterogenous Computing Systems at the Edge", International Conference on Internet of Things: Systems, Management and Security (IOTSMS) 2022 , IEEE (2022) . (View) (Download) (Google Scholar)

[11] Marius-Mihail Gurgu, Jorge Peña Queralta, Tomi Westerlund, "Vision-based GNSS-Free Localization for UAVs in the Wild", 7th International Conference on Mechanical Engineering and Robotics Research , IEEE (2022) . (View) (Download)

[10] Sahar Salimpour, Farhad Keramat, Jorge Peña Queralta, Tomi Westerlund, "Decentralized Vision-Based Byzantine Agent Detection in Multi-Robot Systems with IOTA Smart Contracts", International Symposium on Foundations & Practice of Security (FPS – 2022) , Springer (2022) . (View) (Download) None

[9] Li Qingqing, Yu Xianjia, Jorge Peña Queralta and Tomi Westerlund, "Multi-Modal Lidar Dataset for Benchmarking General-Purpose Localization and Mapping Algorithms", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , IEEE (2022) . (View) (Download)

[8] Yu Xianjia, Jorge Peña Queralta, Tomi Westerlund, "Towards Lifelong Federated Learning in Autonomous Mobile Robots with Continuous Sim-to-Real Transfer", Procedia Computer Science , Elsevier (2022) . Presented at EUSPN/ICTH 2022. (View) (Download)

[7] Paola Torrico Morón, Salma Salimi, Jorge Peña Queralta, Tomi Westerlund, "UWB Role Allocation with Distributed Ledger Technologies for Scalable Relative Localization in Multi-Robot Systems", IEEE International Symposium on ROSE 2022 , IEEE (2022) . (View) (Download) (Google Scholar) None

[6] Sahar Salimpour, Jorge Peña Queralta, Tomi Westerlund, "Self-Calibrating Anomaly and Change Detection for Autonomous Inspection Robots", IEEE Robotic Computing , IEEE (2022) . (View) (Download)

[5] Jorge Peña Queralta, Li Qingqing, Fabrizio Schiano, Tomi Westerlund, "VIO-UWB-Based Collaborative Localization and Dense Scene Reconstruction within Heterogeneous Multi-Robot Systems", IEEE International Conference on Advanced Robotics and Mechatronics , IEEE (2022) . (View) (Download)

[4] Risto Katila, Tuan Nguyen Gia and Tomi Westerlund, "Analysis of mobility support approaches for edge-based IoT systems using high data rate Bluetooth Low Energy 5", Computer Networks , Elsevier (2022) . (View) (Download)

[3] Paola Torrico Morón, Jorge Peña Queralta, Tomi Westerlund, "Towards Large-Scale Relative Localization in Multi-Robot Systems with Dynamic UWB Role Allocation", 2022 7th International Conference on Robotics and Automation Engineering , IEEE (2022) . (View) (Download)

[2] 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 , IEEE (2022) . (View) (Download) (Researchgate) (Google Scholar)

[1] Christine Mwase, Yi Jin, Tomi Westerlund, Hannu Tenhunen and Zhuo Zou, "Communication-efficient distributed AI strategies for the IoT edge", Future Generation Computer Systems , Elsevier (2022) . (View) (Download)

2021

[14] Paavo Nevalainen, Parisa Movahedi, Jorge Peña Queralta, Tomi Westerlund, Jukka Heikkonen, "Long-Term Autonomy in Forest Environment using Self-Corrective SLAM", Book Chapter , Springer (2021) . Presented at FinDrones 2020. (View) (Download)

[13] Paavo Nevalainen, Qingqing LI, Timo Melkas, Kirsi Riekki, Tomi Westerlund, Jukka Heikkonen, "Navigation and Mapping in Forest Environment Using Sparse Point Clouds", Remote Sensing , MDPI (2021) . (View) (Download) (Researchgate)

[12] Victor Kathan Sarker, Prateeti Mukherjee, Tomi Westerlund, "Enhanced Reliability of Mobile Robots with Sensor Data Estimation at Edge", IEEE Global Conference on Artificial Intelligence & Internet of Things , IEEE (2021) . (View) (Download) (Researchgate)

[11] Li Qingqing, Jussi Taipalmaa, Jorge Peña Queralta, Tuan Nguyen Gia, Moncef Gabbouj, Hannu Tenhunen, Jenni Raitoharju, Tomi Westerlund, "Towards Active Vision with UAVs in Marine Search and Rescue: Analyzing Human Detection at Variable Altitudes", IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) , IEEE (2021) . (View) (Download) (Researchgate)

[10] Wenshuai Zhao, Jorge Peña Queralta, Tomi Westerlund, "Sim-to-Real Transfer in Deep Reinforcement Learning for Robotics: a Survey", IEEE Symposium Series on Computational Intelligence , IEEE (2021) . (View) (Download) (Researchgate)

[9] Irfan Muhammad, Jawad Husnain, Felix Barkoum Betra, Abbasi Saadullah Farooq, Nawaz Anum, Akbarzadeh Saeed, Awais Muhammad, Chen Li, Westerlund Tomi, Chen Wei, "Non-Wearable IoT-Based Smart Ambient Behavior Observation System", Sensors , IEEE (2021) . (View) (Download)

[8] Diana Rwegasira, Imed Ben Dhaou, Syed Kakakhel, Tomi Westerlund and Hannu Tenhunen, "Distributed Load Shedding Algorithm for Islanded Microgrid Using Fog Computing Paradigm", The International Energy Conference , IEEE (2021) . (View) (Download) (Researchgate)

[7] 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)

[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)

[5] Minh Nguyen, Tuan Nguyen Gia, Tomi Westerlund, "EMG-based IoT System using Hand Gestures for Remote Control Applications", IEEE 7th World Forum on the Internet of Things WF-IoT2021 , IEEE (2021) . (View) (Download)

[4] 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)

[3] 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)

[2] Jorge Peña Queralta, Yu Xianjia, Li Qingqing, Tomi Westerlund, "Towards Large-Scale Scalable MAV Swarms with ROS2 and UWB-based Situated Communication", R2T2: Robotics Research for Tomorrow's Technology, organized by TII (2021) . Best paper award. (View) (Download)

[1] Li Qingqing, Yu Xianjia, Jorge Peña Queralta, Tomi Westerlund, "Adaptive Lidar Scan Frame Integration: Tracking Known MAVs in 3D Point Clouds", 20th International Conference on Advanced Robotics (ICAR) , IEEE (2021) . (View) (Download)

2020

[23] Jorge Peña Queralta, Jussi Taipalmaa, Bilge Can Pullinen, Victor Kathan Sarker, Tuan Nguyen Gia, Hannu Tenhunen, Moncef Gabbouj, Jenni Raitoharju, Tomi Westerlund, "Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception and Active Vision", IEEE Access , IEEE (2020) . (View) (Download) (Google Scholar)

[22] Wenshuai Zhao, Jorge Peña Queralta, Li Qingqing, Tomi Westerlund, "Ubiquitous Distributed Deep Reinforcement Learning at the Edge: Analyzing Byzantine Agents in Discrete Action Spaces", The 11th International Conference on Emerging Ubiquitous Systems and Pervasive Networks (EUSPN 2020) , Elsevier (2020) . (View) (Download) (Researchgate)

[21] Wenshuai Zhao, Jorge Peña Queralta, Li Qingqing, Tomi Westerlund, "Towards Closing the Sim-to-Real Gap in Collaborative Multi-Robot Deep Reinforcement Learning", 5th International Conference on Robotics and Automation Engineering , IEEE (2020) . (View) (Download) (Researchgate)

[20] Jorge Peña Queralta, Carmen Martínez Almansa, Fabrizio Schiano, Dario Floreano, Tomi Westerlund, "UWB-based System for UAV Localization in GNSS-Denied Environments: Characterization and Dataset", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , IEEE (2020) . (View) (Download)

[19] Wang Shule, Carmen Martínez Almansa, Jorge Peña Queralta, Zhuo Zou, Tomi Westerlund, "UWB-Based Localization for Multi-UAV Systems and Collaborative Heterogeneous Multi-Robot Systems: a Survey", Procedia Computer Science , Elsevier (2020) . The 15th International Conference on Future Networks and Communications. (View) (Download)

[18] Jorge Peña Queralta and Tomi Westerlund, "Blockchain-Powered Collaboration in Heterogeneous Swarms of Robots", Preprint (2020) . Presented at the 2019 Symposium on Blockchain for Robotics and AI Systems, MIT Media Lab. (View) (Download) (Researchgate) (Google Scholar)

[17] Victor Kathan Sarker, Tuan Nguyen Gia, Imed Ben Dhaou and Tomi Westerlund, "Smart Parking System with Dynamic Pricing, Edge-Cloud Computing and LoRa", Sensors , MDPI (2020) . (View) (Download) (Researchgate)

[16] Anum Nawaz, Jorge Peña Queralta, Jixin Guan, Muhammad Awais, Tuan Nguyen Gia, Ali Kashif, Haibin Kan, Tomi Westerlund, "Edge Computing to Secure IoT Data Ownership and Trade with the Ethereum Blockchain", Sensors , MDPI (2020) . (View) (Download) (Researchgate) (Google Scholar)

[15] Mehar Ullah, Syed Rameez Ullah Kakakhel, Tomi Westerlund, Annika Wolff, Dick Carrillo, Juha Plosila, Pedro H. J. Nardelli , " IoT Protocol Selection for Smart Grid Applications: Merging Qualitative and Quantitative Metrics", 43rd International Convention on Information, Communication and Electronic Technology , MIPRO Croatian ICT Society (MIPRO) (2020) . (View) (Download) None

[14] Wenshuai Zhao, Dihong Jiang, Jorge Peña Queralta, Tomi Westerlund, "Multi-Scale Supervised 3D U-Net for Kidneys and Kidney Tumor Segmentation", Informatics in Medicine Unlocked , Elsevier (2020) . (View) (Download)

[13] Carmen Martínez Almansa, Wang Shule, Jorge Peña Queralta, Tomi Westerlund, "Autocalibration of a Mobile UWB Localization System for Ad-Hoc Multi-Robot Deployments in GNSS-Denied Environments", International Conference on Localization and GNSS (ICL-GNSS 2020) , CEUR WS Proceedings (2020) . (View) (Download)

[12] Jorge Peña Queralta, Jenni Raitoharju, Tuan Nguyen Gia, Nikolaos Passalis, Tomi Westerlund, "AutoSOS: Towards Multi-UAV Systems Supporting Maritime Search and Rescue with Lightweight AI and Edge Computing", arXiv preprint , arXiv (2020) . (View) (Download)

[11] Li Qingqing, Paavo Nevalainen, Jorge Peña Queralta, Jukka Heikkonen and Tomi Westerlund, "Localization in Unstructured Environments: Towards Autonomous Robots in Forests with Delaunay Triangulation", Remote Sensing , MDPI (2020) . (View) (Download) (Researchgate)

[10] Victor Kathan Sarker, Li Qingqing and Tomi Westerlund, "3D Perception with Low-cost 2D LIDAR and Edge Computing for Enhanced Obstacle Detection", IEEE International Conference on Industrial Cyber-Physical Systems (ICPS) , IEEE (2020) . (View) (Download) (Researchgate)

[9] Jorge Peña Queralta, Li Qingqing, Tuan Nguyen Gia, Hong-Linh Truong, Tomi Westerlund, "End-to-End Design for Self-Reconfigurable Heterogeneous Robotic Swarms", International Conference on Distributed Computing in Sensor Systems (DCOSS) , IEEE (2020) . (View) (Download) (Researchgate)

[8] Syed Rameez Ullah Kakakhel, Aron Kondoro, Tomi Westerlund, Imed Ben Dhaou, Juha Plosila, "Enhancing Smart Grids via Advanced Metering Infrastructure and Fog Computing Fusion", IEEE World Forum on Internet of Things , IEEE (2020) . (View) (Download)

[7] Jorge Peña Queralta, Li Qingqing, Zhuo Zou, 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)

[6] Victor Kathan Sarker, Tuan Nguyen Gia, Hannu Tenhunen, Tomi Westerlund, "Lightweight Security Algorithms for Resource-constrained IoT-based Sensor Nodes", IEEE International Conference on Communications 2020 , IEEE (2020) . (View) (Download) (Researchgate)

[5] Li Qingqing, Jorge Peña Queralta, Tuan Nguyen Gia, Zhuo Zou, Tomi Westerlund, "Multi Sensor Fusion for Navigation and Mapping in Autonomous Vehicles: Accurate Localization in Urban Environments", Unmanned Systems (2020) . The 9th IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and the 9th IEEE International Conference on Robotics, Automation and Mechatronics (RAM). (View) (Download) (Researchgate) Nominated to Best Paper Award.

[4] TIERS, "Intelligent Robotics and Embedded Systems at the University of Turku", Technical report , TIERS (2020) . (View) (Download)

[3] Tuan Nguyen Gia, Jorge Peña Queralta, Tomi Westerlund, "Exploiting LoRa, edge, and fog computing for traffic monitoring in smart cities", LPWAN Technologies for IoT and M2M Applications , Elsevier (2020) . (View) (Download) (Researchgate) (Google Scholar)

[2] Imed Saad Ben Dhaou, Aron Kondoro, Syed Rameez Ullah Kakakhel, Tomi Westerlund, Hannu Tenhunen, "Internet of Things Technologies for Smart Grid", , IGI Global (2020) . (View) (Download)

[1] Shenjie Bao, Tuan Nguyen Gia, Wei Chen, Tomi Westerlund, "Wearable Health Monitoring System using Flexible Materials Electrodes", The 2020 IEEE 6th World Forum on The Internet of Things (WF-IoT 2020) , IEEE (2020) . (View) (Download) (Researchgate)

2019

[25] Li Qingqing, Jorge Peña Queralta, Tuan Nguyen Gia, Tomi Westerlund, "Offloading Monocular Visual Odometry with Edge Computing: Optimizing Image Quality in Multi-Robot Systems", The 5th International Conference on Systems, Control and Communications , ACM (2019) . (View) (Download) (Researchgate)

[24] Jorge Peña Queralta, Li Qingqing, Tuan Nguyen Gia, Zhuo Zou, Hannu Tenhunen and Tomi Westerlund, "Distributed Progressive Formation Control with One-Way Communication for Multi-Agent Systems", IEEE Symposium Series on Computational Intelligence , IEEE (2019) . (View) (Download) (Researchgate)

[23] Tuan Nguyen Gia, Anum Nawaz, Jorge Peña Queralta, Hannu Tenhunen, Tomi Westerlund, "Artificial Intelligence at the Edge in the Blockchain of Things", Wireless Mobile Communication and Healthcare. MobiHealth 2019. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering , Springer (2019) . Presented at the 8th EAI International Conference on Wireless Mobile Communication and Healthcare. (View) (Download) (Researchgate)

[22] Anum Nawaz, Tuan Nguyen Gia, Jorge Peña Queralta and Tomi Westerlund, "Edge AI and Blockchain for Privacy-Critical and Data-Sensitive Applications", Twelfth International Conference on Mobile Computing and Ubiquitous Network (ICMU) , IEEE (2019) . (View) (Download) (Researchgate)

[21] Tuan Nguyen Gia, Qingqing Li, Jorge Peña Queralta, Zhuo zou, Hannu Tenhunen, Tomi Westerlund, "Lossless Compression Techniques in Edge Computing for Mission-Critical Applications in the IoT", The 12th International Conference on Mobile Computing and Ubiquitous Networking , IEEE (2019) . (View) (Download)

[20] Philipp Oleynik, Rami Vainio, Hannu-Pekka Hedman, Arttu Punkkinen, Risto Punkkinen, Lassi Salomaa, Tero Säntti, Jarno Tuominen, Pasi Virtanen, Alexandre Bosser, Pekka Janhunen, Emilia Kilpua, Minna Palmroth, Jaan Praks, Andris Slavinskisc, Syed R. U. Kakakhel, Juhani Peltonen, Juha Plosila, Jani Tammi, Hannu Tenhunen, Tomi Westerlund, "Particle Telescope aboard FORESAIL-1: simulated performance", Advances in Space Research , Elsevier (2019) . (View) (Download) (Researchgate)

[19] Li Qingqing, Jorge Peña Queralta, Tuan Nguyen Gia, Hannu Tenhunen, Zhou Zou and Tomi Westerlund, "Visual Odometry Offloading in Internet of Vehicles with Compression at the Edge of the Network", The 12th International Conference on Mobile Computing and Ubiquitous Networking (2019) . (View) (Download) (Researchgate)

[18] Li Qingqing, Fu Yuhong, Jorge Peña Queralta, Tuan Nguyen Gia, Hannu Tenhunen, Zhou Zou and Tomi Westerlund, "Edge Computing for Mobile Robots:Multi-Robot Feature-Based Lidar Odometry with FPGAs", The 12th International Conference on Mobile Computing and Ubiquitous Networking (2019) . (View) (Download) (Researchgate) Best Student Poster Award

[17] Henrique Gonçalves Nogueira, Jorge Peña Queralta, Tommi Otsavaara and Tomi Westerlund, "Extending IoT Connectivity of Embedded Devices with M2M High-Speed Acoustic Data Transmission", The 5th International Conference on Communication and Information Processing , ACM (2019) . (View) (Download)

[16] Jorge Peña Queralta, Fu Yuhong, Lassi Salomaa, Li Qingqing, Tuan Nguyen Gia, Zhuo Zou, Hannu Tenhunen and Tomi Westerlund, "FPGA-based Architecture for a Low-Cost 3D Lidar Design and Implementation from Multiple Rotating 2D Lidars with ROS", IEEE Sensors Conference , IEEE (2019) . (View) (Download) (Researchgate)

[15] Aly Metwaly, Jorge Peña Queralta, Victor Kathan Sarker, Tuan Nguyen Gia, Omar Nasir, Tomi Westerlund, "Edge Computing with Embedded AI: Thermal Image Analysis for Occupancy Estimation in Intelligent Buildings", INTelligent Embedded Systems Architectures and Applications, INTESA@ESWEEK 2019 , ACM (2019) . (View) (Download) (Researchgate)

[14] Li Qingqing, Jorge Peña Queralta, Tuan Nguyen Gia, Zhuo Zou, Hannu Tenhunen and Tomi Westerlund, "Detecting Water Reflection Symmetries in Point Clouds for Camera Position Calibration in Unmanned Surface Vehicles", The 19th International Symposium on Communications and Information Technologies (ISCIT) , IEEE (2019) . (View) (Download) (Researchgate)

[13] Cassandra McCord, Jorge Peña Queralta, Tuan Nguyen Gia and Tomi Westerlund, "Distributed Progressive Formation Control for Multi-Agent Systems: 2D and 3D deployment of UAVs in ROS/Gazebo with RotorS", European Conference on Mobile Robots (ECMR) , IEEE (2019) . (View) (Download)

[12] Jorge Peña Queralta, Tuan Nguyen Gia, Hannu Tenhunen and Tomi Westerlund, "Edge-AI in LoRa-based Health Monitoring: Fall Detection System with Fog Computing and LSTM Recurrent Neural Networks", 42nd International Conference on Telecommunications and Signal Processing (TSP) , IEEE (2019) . (View) (Download) (Researchgate)

[11] Victor Kathan Sarker, Jorge Peña Queralta, Tuan Nguyen Gia, Hannu Tenhunen and Tomi Westerlund, "A Survey on LoRa for IoT: Integrating Edge Computing", International Workshop on Smart Living with IoT, Cloud and Edge Computing , IEEE (2019) . (View) (Download) (Researchgate)

[10] Syed Kakakhel, Tomi Westerlund, Masoud Daneshtalab, Zhuo Zou, Juha Plosila, Hannu Tenhunen, "A Qualitative Comparison Model for Application Layer IoT Protocols", The Fifth IEEE International Workshop on Internet of Things: Networking Applications and Technologies (IoTNAT 2019) , IEEE (2019) . (View) (Download)

[9] M. Palmroth J. Praks R. Vainio P. Janhunen E. K. J. Kilpua A. Afanasiev M. Ala‐Lahti A. Alho T. Asikainen E. Asvestari M. Battarbee A. Binios A. Bosser T. Brito M. Dubart J. Envall U. Ganse N. Yu. Ganushkina H. George J. Gieseler S. Good M. Grandin S. Haslam H.‐P. Hedman H. Hietala N. Jovanovic S. Kakakhel M. Kalliokoski V. V. Kettunen T. Koskela E. Lumme M. Meskanen D. Morosan M. Rizwan Mughal P. Niemelä S. Nyman P. Oleynik A. Osmane E. Palmerio J. Peltonen Y. Pfau‐Kempf J. Plosila J. Polkko S. Poluianov J. Pomoell D. Price A. Punkkinen R. Punkkinen B. Riwanto L. Salomaa A. Slavinskis T. Säntti J. Tammi H. Tenhunen P. Toivanen J. Tuominen L. Turc E. Valtonen P. Virtanen T. Westerlund, "FORESAIL‐1 CubeSat Mission to Measure Radiation Belt Losses and Demonstrate Deorbiting", Journal of geophysical research : space physics , Wiley (2019) . (View) (Download) (Researchgate)

[8] Victor Kathan Sarker, Jorge Peña Queralta, Tuan Nguyen Gia, Hannu Tenhunen and Tomi Westerlund, "Offloading SLAM for Indoor Mobile Robots with Edge-Fog-Cloud Computing", International Conference on Advances in Science, Engineering and Robotics Technology , IEEE (2019) . (View) (Download) (Researchgate)

[7] Jorge Peña Queralta, Tuan Nguyen Gia, Hannu Tenhunen and Tomi Westerlund, "Collaborative Mapping with IoE-based Heterogeneous Vehicles for Enhanced Situational Awareness", IEEE Sensors Applications Symposium 2019 , IEEE (2019) . (View) (Download) (Researchgate)

[6] Zhuo Zou, Yi Jin, Paavo Nevalainen, Yuxiang Huan, Jukka Heikkonen, Tomi Westerlund, "Edge and Fog Computing Enabled AI for IoT - An Overview", International Conference on Artificial Intelligence Circuits and Systems (AICAS) , IEEE (2019) . (View) (Download) (Researchgate)

[5] Behailu Negash, Tomi Westerlund and Hannu Tenhunen, "Towards an interoperable Internet of Things through a web of virtual things at the Fog layer", Future Generation Computer Systems , Elsevier (2019) . (View) (Download)

[4] Tuan Nguyen Gia, Li Qingqing, Jorge Peña Queralta, Zhuo Zou, Hannu Tenhunen and Tomi Westerlund, "Edge AI in Smart Farming IoT: CNNs at the Edge and Fog Computing with LoRa", IEEE AFRICON 2019 , IEEE (2019) . (View) (Download) (Researchgate)

[3] Jorge Peña Queralta, Tuan Nguyen Gia, Zhuo Zou, Hannu Tenhunen, Tomi Westerlund, "Comparative Study of LPWAN Technologies on Unlicensed Bands for M2M Communication in the IoT: beyond LoRa and LoRaWAN", Procedia Computer Science , Elsevier (2019) . The 14th International Conference on Future Networks and Communications (FNC). (View) (Download) (Researchgate)

[2] Tuan Ngueyn Gia, Imed Ben Dhaou, Mai Ali, Amir Rahmani, Tomi Westerlund, Pasi Liljeberg, Hannu Tenhunen, "Energy efficient fog-assisted IoT system for monitoring diabetic patients with cardiovascular disease", Future Generation Computer Systems , Elsevier (2019) . (View) (Download) (Researchgate)

[1] Jorge Peña Queralta, Cassandra McCord, Tuan Nguyen Gia, Hannu Tenhunen and Tomi Westerlund, "Communication-free and Index-free Distributed Formation Control Algorithm for Multi-robot Systems", Procedia Computer Science , Elsevier (2019) . The 10th International Conference on Ambient Systems, Networks and Technologies (ANT). (View) (Download) (Researchgate)