Collaborative Heterogeneous and Reconfigurable Multi-Robot Systems

Our main interests are in the areas of decentralized control, collaborative and heterogeneous multi-robot systems, and blockchain for distributed robotic systems.

Publications

[1] Jorge Peña Queralta, Li Qingqing, Eduardo Castelló Ferrer, Tomi Westerlund, "Secure Encoded Instruction Graphs for End-to-End Data Validation in Autonomous Robots", arXiv preprint (2020) (View) (Download) (Researchgate) (arXiv)

[2] Jorge Peña Queralta, Li Qingqing, Fabrizio Schiano, Tomi Westerlund, "VIO-UWB-Based Collaborative Localization and Dense Scene Reconstruction within Heterogeneous Multi-Robot Systems", arXiv Preprint (2020) (View) (Download) (arXiv)

[3] 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)

[4] 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 (2020) (View) (Download) (Researchgate) (arXiv)

[5] 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 (2020) (View) (Download) (Researchgate) (arXiv)

[6] 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) (2020) (View) (Download) (Researchgate) (arXiv)

[7] 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)

[8] 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) (2020) (View) (Download) (arXiv)

[9] 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 (2019) (View) (Download) (Researchgate)

[10] Jorge Peña Queralta and Tomi Westerlund, "Blockchain-Powered Collaboration in Heterogeneous Swarms of Robots", Preprint (2020) (View) (Download) (Researchgate) (Google Scholar) (arXiv)

[11] 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 (2019) (View) (Download) (Researchgate)

[12] 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)

[13] 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 (2019) (View) (Download) (Researchgate)

[14] 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 (2019) (View) (Download) (Researchgate)