@inproceedings{catalano_evaluating_2024,

title = {Evaluating the Performance of Multi-scan Integration for UAV LiDAR-Based Tracking},

author = {Iacopo Catalano and Jorge Peña Queralta and Tomi Westerlund},

editor = {Tomi Westerlund and Jorge Peña Queralta},

doi = {10.1007/978-3-031-44607-8_6},

isbn = {9783031446078},

year  = {2024},

date = {2024-01-01},

booktitle = {New Developments and Environmental Applications of Drones},

pages = {85–95},

publisher = {Springer Nature Switzerland},

address = {Cham},

abstract = {Drones have become essential tools in a wide range of industries, including agriculture, surveying, and transportation. However, tracking unmanned aerial vehicles (UAVs) in challenging environments, such as cluttered or GNSS-denied environments, remains a critical issue. Additionally, UAVs are being deployed as part of multi-robot systems, where tracking their position can be essential for relative state estimation. In this chapter, we evaluate the performance of a multi-scan integration method for tracking UAVs in GNSS-denied environments using a solid-state LiDAR and a Kalman Filter (KF). We evaluate the algorithm’s ability to track a UAV in a large open area at various distances and speeds. Our quantitative analysis shows that while “tracking by detection” using a constant-velocity model is the only method that consistently tracks the target, integrating multiple scan frequencies using a KF achieves lower position errors and represents a viable option for tracking UAVs in similar scenarios.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{thuan_simulation_2024,

title = {Simulation Analysis of Exploration Strategies and UAV Planning for Search and Rescue},

author = {Phuoc Nguyen Thuan and Jorge Peña Queralta and Tomi Westerlund},

editor = {Tomi Westerlund and Jorge Peña Queralta},

doi = {10.1007/978-3-031-44607-8_5},

isbn = {9783031446078},

year  = {2024},

date = {2024-01-01},

booktitle = {New Developments and Environmental Applications of Drones},

pages = {75–84},

publisher = {Springer Nature Switzerland},

address = {Cham},

abstract = {Aerial scans with unmanned aerial vehicles (UAVs) are becoming more widely adopted across industries, from smart farming to urban mapping. An application area that can leverage the strength of such systems is search and rescue (SAR) operations. However, with a vast variability in strategies and topology of application scenarios, as well as the difficulties in setting up real-world UAV-aided SAR operations for testing, designing an optimal flight pattern to search for and detect all victims can be a challenging problem. Specifically, the deployed UAV should be able to scan the area in the shortest amount of time while maintaining high victim detection recall rates. Therefore, low probability of false negatives (i.e., high recall) is more important than precision in this case. To address the issues mentioned above, we have developed a simulation environment that emulates different SAR scenarios and allows experimentation with flight missions to provide insight into their efficiency. The solution was developed with the open-source ROS framework and Gazebo simulator, with PX4 as the autopilot system for flight control, and YOLO as the object detector.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{fu_is_2024,

title = {Is Alice Really in Wonderland? UWB-Based Proof of Location for UAVs with Hyperledger Fabric Blockchain},

author = {Lei Fu and Paola Torrico Morón and Jorge Peña Queralta and David Hästbacka and Harry Edelman and Tomi Westerlund},

editor = {Tomi Westerlund and Jorge Peña Queralta},

doi = {10.1007/978-3-031-44607-8_3},

isbn = {9783031446078},

year  = {2024},

date = {2024-01-01},

booktitle = {New Developments and Environmental Applications of Drones},

pages = {43–56},

publisher = {Springer Nature Switzerland},

address = {Cham},

abstract = {Remote identification of Unmanned Aerial Vehicles (UAVs) is becoming increasingly important since more UAVs are being widely used for different needs in urban areas. For example, in the US and in the EU, identification and position broadcasting is already a requirement for the use of drones. However, the current solutions do not validate the position of the UAV but its identity, while trusting the given position. Therefore, a more advanced solution enabling the proof of location is needed to avoid spoofing. We propose the combination of a permissioned blockchain managed by public authorities together with UWB-based communication to approach this. Specifically, we leverage the identity management tools from Hyperledger Fabric, an open-source permissioned blockchain framework, and ultra-wideband (UWB) ranging, leading to situated communication (i.e., simultaneous communication and localization). This approach allows us to prove both the UAV identity and also the location it broadcasts through interaction with ground infrastructure in known locations. Our initial experiments show that the proposed approach is viable and UWB transceivers can be used for UAVs to validate both their identity and position with ground infrastructure deployed in known locations.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{sier2023uav,

title = {UAV Tracking with Lidar as a Camera Sensor in GNSS-Denied Environments},

author = {Ha Sier and Xianjia Yu and Iacopo Catalano and Jorge Pena Queralta and Zhuo Zou and Tomi Westerlund},

year  = {2023},

date = {2023-01-01},

booktitle = {2023 International Conference on Localization and GNSS (ICL-GNSS)},

pages = {1–7},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{westerlund2023decentralized,

title = {Decentralized Vision-Based Byzantine Agent Detection in Multi-robot Systems with IOTA Smart Contracts},

author = {Tomi Westerlund},

year  = {2023},

date = {2023-01-01},

booktitle = {Foundations and Practice of Security: 15th International Symposium, FPS 2022, Ottawa, ON, Canada, December 12–14, 2022, Revised Selected Papers},

volume = {13877},

pages = {322},

organization = {Springer Nature},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{nawaz2023optical,

title = {Optical Character Recognition Using Optimized Convolutional Networks},

author = {Anum Nawaz and Muhammad Irfan and Tomi Westerlund},

year  = {2023},

date = {2023-01-01},

booktitle = {2023 Eighth International Conference on Fog and Mobile Edge Computing (FMEC)},

pages = {107–114},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{nawaz2023edge,

title = {Edge Based Skin Cancer Decision Support System Using Machine Learning Algorithms},

author = {Anum Nawaz and Muhammad Irfan and Hafza Ayesha Sadiqa and Tomi Westerlund},

year  = {2023},

date = {2023-01-01},

booktitle = {2023 IEEE Intl Conf on Dependable, Autonomic and Secure Computing, Intl Conf on Pervasive Intelligence and Computing, Intl Conf on Cloud and Big Data Computing, Intl Conf on Cyber Science and Technology Congress (DASC/PiCom/CBDCom/CyberSciTech)},

pages = {0292–0297},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{queralta2022vio,

title = {VIO-UWB-based collaborative localization and dense scene reconstruction within heterogeneous multi-robot systems},

author = {Jorge Peña Queralta and Qingqing Li and Fabrizio Schiano and Tomi Westerlund},

year  = {2022},

date = {2022-01-01},

booktitle = {2022 International Conference on Advanced Robotics and Mechatronics (ICARM)},

pages = {87–94},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{nevalainen2022long,

title = {Long-term autonomy in forest environment using self-corrective slam},

author = {Paavo Nevalainen and Parisa Movahedi and Jorge Peña Queralta and Tomi Westerlund and Jukka Heikkonen},

year  = {2022},

date = {2022-01-01},

booktitle = {New Developments and Environmental Applications of Drones: Proceedings of FinDrones 2020},

pages = {83–107},

organization = {Springer International Publishing},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{moron2022towards,

title = {Towards large-scale relative localization in multi-robot systems with dynamic uwb role allocation},

author = {Paola Torrico Morón and Jorge Peña Queralta and Tomi Westerlund},

year  = {2022},

date = {2022-01-01},

booktitle = {2022 7th International Conference on Robotics and Automation Engineering (ICRAE)},

pages = {239–246},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{yu2022federated,

title = {Federated learning for vision-based obstacle avoidance in the internet of robotic things},

author = {Xianjia Yu and Jorge Pena Queralta and Tomi Westerlund},

year  = {2022},

date = {2022-01-01},

booktitle = {2022 Seventh International Conference on Fog and Mobile Edge Computing (FMEC)},

pages = {1–6},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{salimi2022secure,

title = {Secure heterogeneous multi-robot collaboration and docking with hyperledger fabric blockchain},

author = {Salma Salimi and Paola Torrico Morón and Jorge Peña Queralta and Tomi Westerlund},

year  = {2022},

date = {2022-01-01},

booktitle = {2022 IEEE 8th World Forum on Internet of Things (WF-IoT)},

pages = {1–7},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{salimpour2022self,

title = {Self-calibrating anomaly and change detection for autonomous inspection robots},

author = {Sahar Salimpour and Jorge Pena Queralta and Tomi Westerlund},

year  = {2022},

date = {2022-01-01},

booktitle = {2022 Sixth IEEE International Conference on Robotic Computing (IRC)},

pages = {207–214},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{moron2022uwb,

title = {UWB role allocation with distributed ledger technologies for scalable relative localization in multi-robot systems},

author = {Paola Torrico Morón and Salma Salimi and Jorge Peña Queralta and Tomi Westerlund},

year  = {2022},

date = {2022-01-01},

booktitle = {2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE)},

pages = {1–8},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{salimpour2022decentralized,

title = {Decentralized vision-based byzantine agent detection in multi-robot systems with iota smart contracts},

author = {Sahar Salimpour and Farhad Keramat and Jorge Pena Queralta and Tomi Westerlund},

year  = {2022},

date = {2022-01-01},

booktitle = {International Symposium on Foundations and Practice of Security},

pages = {322–337},

organization = {Springer Nature Switzerland Cham},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{gurgu2022vision,

title = {Vision-Based GNSS-Free Localization for UAVs in the Wild},

author = {Marius-Mihail Gurgu and Jorge Peña Queralta and Tomi Westerlund},

year  = {2022},

date = {2022-01-01},

booktitle = {2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)},

pages = {7–12},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{hernandez2022distributed,

title = {Distributed Ledger Technologies for Managing Heterogenous Computing Systems at the Edge},

author = {Daniel Montero Hernández and Jorge Peña Queralta and Tomi Westerlund},

year  = {2022},

date = {2022-01-01},

booktitle = {2022 9th International Conference on Internet of Things: Systems, Management and Security (IOTSMS)},

pages = {1–8},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{zhang2022distributed,

title = {Distributed robotic systems in the edge-cloud continuum with ros 2: a review on novel architectures and technology readiness},

author = {Jiaqiang Zhang and Farhad Keramat and Xianjia Yu and Daniel Montero Hernández and Jorge Pena Queralta and Tomi Westerlund},

year  = {2022},

date = {2022-01-01},

booktitle = {2022 Seventh International Conference on Fog and Mobile Edge Computing (FMEC)},

pages = {1–8},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{qingqing2022multi,

title = {Multi-modal lidar dataset for benchmarking general-purpose localization and mapping algorithms},

author = {Li Qingqing and Yu Xianjia and Jorge Pena Queralta and Tomi Westerlund},

year  = {2022},

date = {2022-01-01},

booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

pages = {3837–3844},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{qingqing2021adaptive,

title = {Adaptive lidar scan frame integration: Tracking known mavs in 3d point clouds},

author = {Li Qingqing and Yu Xianjia and Jorge Pena Queralta and Tomi Westerlund},

year  = {2021},

date = {2021-01-01},

booktitle = {2021 20th International Conference on Advanced Robotics (ICAR)},

pages = {1079–1086},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{xianjia2021applications,

title = {Applications of uwb networks and positioning to autonomous robots and industrial systems},

author = {Yu Xianjia and Li Qingqing and Jorge Peña Queralta and Jukka Heikkonen and Tomi Westerlund},

year  = {2021},

date = {2021-01-01},

booktitle = {2021 10th Mediterranean Conference on Embedded Computing (MECO)},

pages = {1–6},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{xianjia2021cooperative,

title = {Cooperative uwb-based localization for outdoors positioning and navigation of uavs aided by ground robots},

author = {Yu Xianjia and Li Qingqing and Jorge Pena Queralta and Jukka Heikkonen and Tomi Westerlund},

year  = {2021},

date = {2021-01-01},

booktitle = {2021 IEEE International Conference on Autonomous Systems (ICAS)},

pages = {1–5},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{nguyen2021emg,

title = {EMG-based IoT system using hand gestures for remote control applications},

author = {Minh Nguyen and Tuan Nguyen Gia and Tomi Westerlund},

year  = {2021},

date = {2021-01-01},

booktitle = {2021 IEEE 7th World Forum on Internet of Things (WF-IoT)},

pages = {911–912},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{kramar2021unmanned,

title = {Unmanned Aircraft Systems-Education Activities in Finland, UCNDrone Perspective},

author = {Vadim Kramar and Rajeev Kanth and Arto Toppinen and Mohammed Rabah and Eero Immonen and Marjut Koskela and Juha Erkkilä and Tomi Westerlund and Hannu Tenhunen and Jouni Isoaho and others},

year  = {2021},

date = {2021-01-01},

booktitle = {Proceeding of the 30th Conference of Fruct Association},

organization = {Fruct oy},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{gia2021detection,

title = {Detection of epilepsy seizures based on deep learning with attention mechanism},

author = {Tuan Nguyen Gia and Ziyu Wang and Tomi Westerlund},

year  = {2021},

date = {2021-01-01},

booktitle = {International Conference on Wireless Mobile Communication and Healthcare},

pages = {71–84},

organization = {Springer International Publishing Cham},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{sarker2020lightweight,

title = {Lightweight security algorithms for resource-constrained IoT-based sensor nodes},

author = {Victor Kathan Sarker and Tuan Nguyen Gia and Hannu Tenhunen and Tomi Westerlund},

year  = {2020},

date = {2020-01-01},

booktitle = {ICC 2020-2020 IEEE International Conference on Communications (ICC)},

pages = {1–7},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{bao2020wearable,

title = {Wearable health monitoring system using flexible materials electrodes},

author = {Shenjie Bao and Tuan Nguyen Gia and Wei Chen and Tomi Westerlund},

year  = {2020},

date = {2020-01-01},

booktitle = {2020 IEEE 6th World Forum on Internet of Things (WF-IoT)},

pages = {1–2},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{queralta2020enhancing,

title = {Enhancing autonomy with blockchain and multi-access edge computing in distributed robotic systems},

author = {Jorge Peña Queralta and Li Qingqing and Zhuo Zou and Tomi Westerlund},

year  = {2020},

date = {2020-01-01},

booktitle = {2020 Fifth International Conference on Fog and Mobile Edge Computing (FMEC)},

pages = {180–187},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{kakakhel2020enhancing,

title = {Enhancing smart grids via advanced metering infrastructure and fog computing fusion},

author = {Syed Rameez Ullah Kakakhel and Aron Kondoro and Tomi Westerlund and Imed Ben Dhaou and Juha Plosila},

year  = {2020},

date = {2020-01-01},

booktitle = {2020 IEEE 6th World Forum on Internet of Things (WF-IoT)},

pages = {1–6},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}