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.

Ongoing Projects

Publications

[1] 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 (2023) (View) (Download) (arXiv)

[2] 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 (2023) (View) (Download) (arXiv)

[3] 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) (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] 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) (2022) (View) (Download) (arXiv)

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

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

[8] 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 (2022) (View) (Download) (Google Scholar) (arXiv)

[9] 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 (2023) (View) (Download) (arXiv)

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

[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 (2022) (View) (Download) (arXiv)

[12] Yu Xianjia, Jorge Peña Queralta, Tomi Westerlund, "Towards Lifelong Federated Learning in Autonomous Mobile Robots with Continuous Sim-to-Real Transfer", Procedia Computer Science (2022) (View) (Download)

[13] 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)

[14] 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 (2023) (View) (Download) (arXiv)

[15] 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)

[16] Yu Xianjia, Jorge Peña Queralta, Jukka Heikkonen, Tomi Westerlund, "Federated Learning in Robotic and Autonomous Systems", Procedia Computer Science (2021) (View) (Download) (Google Scholar) (arXiv)

[17] 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)

[18] 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)

[19] 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)

[20] 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)

[21] 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)

[22] 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)

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

[24] 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)

[25] 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)

[26] 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)

[27] 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)

[28] 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)

[29] 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)

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

[31] 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)

[32] 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)

[33] 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)

[34] 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)