140 citations · 948 across the 57 of their papers we have counts for
60 papers
Intelligent Control for Path-Following of an Unmanned Mass-Centric Surface Vehicle
Gabriel da Silva Lima, Tomi Westerlund, Wallace Moreira Bessa
Addressing the control and maneuverability of surface vehicles with dynamically changing mass distributions is still an open problem. To solve the problem, we propose an intelligen…
Follow-Me in Micro-Mobility with End-to-End Imitation Learning
Sahar Salimpour, Iacopo Catalano, Tomi Westerlund +2
Autonomous micro-mobility platforms face challenges from the perspective of the typical deployment environment: large indoor spaces or urban areas that are potentially crowded and…
Enhancing Lidar Point Cloud Sampling via Colorization and Super-Resolution of Lidar Imagery
Sier Ha, Honghao Du, Xianjia Yu +1
Recent advancements in lidar technology have led to improved point cloud resolution as well as the generation of 360 degrees, low-resolution images by encoding depth, reflectivity,…
Sim-to-Real Transfer for Mobile Robots with Reinforcement Learning: from NVIDIA Isaac Sim to Gazebo and Real ROS 2 Robots
Sahar Salimpour, Jorge Peña-Queralta, Diego Paez-Granados +2
Unprecedented agility and dexterous manipulation have been demonstrated with controllers based on deep reinforcement learning (RL), with a significant impact on legged and humanoid…
Event-based Sensor Fusion and Application on Odometry: A Survey
Jiaqiang Zhang, Xianjia Yu, Ha Sier +2
Event cameras, inspired by biological vision, are asynchronous sensors that detect changes in brightness, offering notable advantages in environments characterized by high-speed mo…
Analysis of Deep Learning-Based Colorization and Super-Resolution Techniques for Lidar Imagery
Sier Ha, Honghao Du, Xianjia Yu +2
Modern lidar systems can produce not only dense point clouds but also 360 degrees low-resolution images. This advancement facilitates the application of deep learning (DL) techniqu…
Benchmarking ML Approaches to UWB-Based Range-Only Posture Recognition for Human Robot-Interaction
Salma Salimi, Sahar Salimpour, Jorge Peña Queralta +2
Human pose estimation involves detecting and tracking the positions of various body parts using input data from sources such as images, videos, or motion and inertial sensors. This…
LiDAR-Generated Images Derived Keypoints Assisted Point Cloud Registration Scheme in Odometry Estimation
Haizhou Zhang, Xianjia Yu, Sier Ha +1
Keypoint detection and description play a pivotal role in various robotics and autonomous applications including visual odometry (VO), visual navigation, and Simultaneous localizat…
Comparison of Middlewares in Edge-to-Edge and Edge-to-Cloud Communication for Distributed ROS2 Systems
Jiaqiang Zhang, Xianjia Yu, Sier Ha +2
The increased data transmission and number of devices involved in communications among distributed systems make it challenging yet significantly necessary to have an efficient and…
A Customizable Conflict Resolution and Attribute-Based Access Control Framework for Multi-Robot Systems
Salma Salimi, Farhad Keramat, Tomi Westerlund +1
As multi-robot systems continue to advance and become integral to various applications, managing conflicts and ensuring secure access control are critical challenges that need to b…
Benchmarking UWB-Based Infrastructure-Free Positioning and Multi-Robot Relative Localization: Dataset and Characterization
Paola Torrico Morón, Sahar Salimpour, Lei Fu +3
Ultra-wideband (UWB) positioning has emerged as a low-cost and dependable localization solution for multiple use cases, from mobile robots to asset tracking within the Industrial I…
Evaluating the Performance of Multi-Scan Integration for UAV LiDAR-based Tracking
Iacopo Catalano, Jorge Peña Queralta, Tomi Westerlund
Drones have become essential tools in a wide range of industries, including agriculture, surveying, and transportation. However, tracking unmanned aerial vehicles (UAVs) in challen…
Vision-based Safe Autonomous UAV Docking with Panoramic Sensors
Phuoc Nguyen Thuan, Tomi Westerlund, Jorge Peña Queralta
The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, t…
Simulation Analysis of Exploration Strategies and UAV Planning for Search and Rescue
Phuoc Nguyen Thuan, Jorge Peña Queralta, Tomi Westerlund
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…
Is Alice Really in Wonderland? UWB-Based Proof of Location for UAVs with Hyperledger Fabric Blockchain
Lei Fu, Paola Torrico Morón, Jorge Peña Queralta +3
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, i…
Event-driven Fabric Blockchain -- ROS 2 Interface: Towards Secure and Auditable Teleoperation of Mobile Robots
Lei Fu, Salma Salimi, Jorge Peña Queralta +1
The integration of blockchain technology in robotic systems has been met by the community with a combination of hype and skepticism. The current literature shows that there is inde…
UAV Tracking with Solid-State Lidars:Dynamic Multi-Frequency Scan Integration
Iacopo Catalano, Ha Sier, Xianjia Yu +2
With the increasing use of drones across various industries, the navigation and tracking of these unmanned aerial vehicles (UAVs) in challenging environments (such as GNSS-denied e…
Fusing Odometry, UWB Ranging, and Spatial Detections for Relative Multi-Robot Localization
Xianjia Yu, Iacopo Catalano, Paola Torrico Morón +3
This letter presents a cooperative relative multi-robot localization design and experimental study. We propose a flexible Monte Carlo approach leveraging a particle filter to estim…
Robust Multi-Modal Multi-LiDAR-Inertial Odometry and Mapping for Indoor Environments
Li Qingqing, Yu Xianjia, Jorge Peña Queralta +1
Integrating multiple LiDAR sensors can significantly enhance a robot's perception of the environment, enabling it to capture adequate measurements for simultaneous localization and…
Exploiting Redundancy for UWB Anomaly Detection in Infrastructure-Free Multi-Robot Relative Localization
Sahar Salimpour, Paola Torrico Morón, Xianjia Yu +2
Ultra-wideband (UWB) localization methods have emerged as a cost-effective and accurate solution for GNSS-denied environments. There is a significant amount of previous research in…
UAV Tracking with Lidar as a Camera Sensors in GNSS-Denied Environments
Ha Sier, Xianjia Yu, Iacopo Catalano +3
LiDAR has become one of the primary sensors in robotics and autonomous system for high-accuracy situational awareness. In recent years, multi-modal LiDAR systems emerged, and among…
Distributed Ledger Technologies for Managing Heterogenous Computing Systems at the Edge
Daniel Montero Hernández, Jorge Peña Queralta, Tomi Westerlund
The increased use of Internet of Things (IoT) devices -- from basic sensors to robust embedded computers -- has boosted the demand for information processing and storing solutions…
Distributed Robotic Systems in the Edge-Cloud Continuum with ROS 2: a Review on Novel Architectures and Technology Readiness
Jiaqiang Zhang, Farhad Keramat, Xianjia Yu +3
Robotic systems are more connected, networked, and distributed than ever. New architectures that comply with the \textit{de facto} robotics middleware standard, ROS\,2, have recent…
Vision-based GNSS-Free Localization for UAVs in the Wild
Marius-Mihail Gurgu, Jorge Peña Queralta, Tomi Westerlund
Considering the accelerated development of Unmanned Aerial Vehicles (UAVs) applications in both industrial and research scenarios, there is an increasing need for localizing these…