Autonomous Unamnned Aerial Systems

We are working on open hardware and algorithms for safe aerial logistics, in ground-air interaction, multi-UAV situational awareness, and UAV tracking and remote identification.


[1] Phuoc Nguyen Thuan, Jorge Peña Queralta, Tomi Westerlund, "Vision-based Safe Autonomous UAV Docking with Panoramic Sensors", arXiv (2023) (View) (Download)

[2] 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) (arXiv)

[3] Phuoc Nguyen Thuan, Jorge Peña Queralta, Tomi Westerlund, "Simulation Analysis of Exploration Strategies and UAV Planning for Search and Rescue", arxiv (2023) (View) (Download) (arXiv)

[4] 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 (2023) (View) (Download) (arXiv)

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

[6] 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 (2022) (View) (Download) (arXiv)

[7] 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 (2022) (View) (Download) (arXiv)

[8] 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) (2021) (View) (Download)

[9] 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 (2020) (View) (Download) (arXiv)

[10] 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) (View) (Download)

[11] 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) (2021) (View) (Download) (arXiv)

[12] 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 (2022) (View) (Download) (arXiv)

[13] 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) (2021) (View) (Download) (Researchgate)

[14] 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 (2020) (View) (Download) (Google Scholar) (arXiv)

[15] 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 (2020) (View) (Download) (arXiv)

[16] 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) (2020) (View) (Download) (arXiv)

[17] 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) (2019) (View) (Download)