Autonomous Robots

Our research focuses in localization and mapping in dense urban environments, mapping of unstructured environments, computational offloading techniques, and hardware accelerators for ROS.

Ongoing Projects

Publications

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

[3] 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", arXiv preprint (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)

[5] 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)

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

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

[10] Paavo Nevalainen, Parisa Movahedi, Jorge Peña Queralta, Tomi Westerlund, Jukka Heikkonen, "Long-Term Autonomy in Forest Environment using Self-Corrective SLAM", Book Chapter (2021) (View) (Download) (arXiv)

[11] 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 (2022) (View) (Download) (Researchgate) (Google Scholar) (arXiv)

[12] 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)

[13] 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)

[14] 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 (2021) (View) (Download) (Researchgate) (arXiv)

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

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

[17] 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)

[18] 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 (2019) (View) (Download) (Researchgate)

[19] 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)

[20] 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) (2020) (View) (Download)

[21] 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)

[22] 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

[23] 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) (View) (Download) (Researchgate) Nominated to Best Paper Award.

[24] 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) (2019) (View) (Download) (Researchgate)