140 citations · 948 across the 57 of their papers we have counts for
15 papers · 1 filter
VIO-UWB-Based Collaborative Localization and Dense Scene Reconstruction within Heterogeneous Multi-Robot Systems
Jorge Peña Queralta, Li Qingqing, Fabrizio Schiano +1
Effective collaboration in multi-robot systems requires accurate and robust estimation of relative localization: from cooperative manipulation to collaborative sensing, and includi…
Sim-to-Real Transfer in Deep Reinforcement Learning for Robotics: a Survey
Wenshuai Zhao, Jorge Peña Queralta, Tomi Westerlund
Deep reinforcement learning has recently seen huge success across multiple areas in the robotics domain. Owing to the limitations of gathering real-world data, i.e., sample ineffic…
Secure Encoded Instruction Graphs for End-to-End Data Validation in Autonomous Robots
Jorge Peña Queralta, Li Qingqing, Eduardo Castelló Ferrer +1
As autonomous robots are becoming more widespread, more attention is being paid to the security of robotic operation. Autonomous robots can be seen as cyber-physical systems: they…
Collaborative Multi-Robot Systems for Search and Rescue: Coordination and Perception
Jorge Peña Queralta, Jussi Taipalmaa, Bilge Can Pullinen +6
Autonomous or teleoperated robots have been playing increasingly important roles in civil applications in recent years. Across the different civil domains where robots can support…
Towards Closing the Sim-to-Real Gap in Collaborative Multi-Robot Deep Reinforcement Learning
Wenshuai Zhao, Jorge Peña Queralta, Li Qingqing +1
Current research directions in deep reinforcement learning include bridging the simulation-reality gap, improving sample efficiency of experiences in distributed multi-agent reinfo…
Ubiquitous Distributed Deep Reinforcement Learning at the Edge: Analyzing Byzantine Agents in Discrete Action Spaces
Wenshuai Zhao, Jorge Peña Queralta, Li Qingqing +1
The integration of edge computing in next-generation mobile networks is bringing low-latency and high-bandwidth ubiquitous connectivity to a myriad of cyber-physical systems. This…
Enhancing Autonomy with Blockchain and Multi-Access Edge Computing in Distributed Robotic Systems
Jorge Peña Queralta, Li Qingqing, Zhuo Zou +1
This conceptual paper discusses how different aspects involving the autonomous operation of robots and vehicles will change when they have access to next-generation mobile networks…
Blockchain for Mobile Edge Computing: Consensus Mechanisms and Scalability
Jorge Peña Queralta, Tomi Westerlund
Mobile edge computing (MEC) and next-generation mobile networks are set to disrupt the way intelligent and autonomous systems are interconnected. This will have an effect on a wide…
Localization in Unstructured Environments: Towards Autonomous Robots in Forests with Delaunay Triangulation
Qingqing Li, Paavo Nevalainen, Jorge Peña Queralta +2
Autonomous harvesting and transportation is a long-term goal of the forest industry. One of the main challenges is the accurate localization of both vehicles and trees in a forest.…
AutoSOS: Towards Multi-UAV Systems Supporting Maritime Search and Rescue with Lightweight AI and Edge Computing
Jorge Peña Queralta, Jenni Raitoharju, Tuan Nguyen Gia +2
Rescue vessels are the main actors in maritime safety and rescue operations. At the same time, aerial drones bring a significant advantage into this scenario. This paper presents t…
End-to-End Design for Self-Reconfigurable Heterogeneous Robotic Swarms
Jorge Peña Queralta, Li Qingqing, Tuan Nguyen Gia +2
More widespread adoption requires swarms of robots to be more flexible for real-world applications. Multiple challenges remain in complex scenarios where a large amount of data nee…
UWB-Based Localization for Multi-UAV Systems and Collaborative Heterogeneous Multi-Robot Systems: a Survey
Wang Shule, Carmen Martínez Almansa, Jorge Peña Queralta +2
Ultra-wideband technology has emerged in recent years as a robust solution for localization in GNSS denied environments. In particular, its high accuracy when compared to other wir…
Multi-Scale Supervised 3D U-Net for Kidneys and Kidney Tumor Segmentation
Wenshuai Zhao, Dihong Jiang, Jorge Peña Queralta +1
Accurate segmentation of kidneys and kidney tumors is an essential step for radiomic analysis as well as developing advanced surgical planning techniques. In clinical analysis, the…
Autocalibration of a Mobile UWB Localization System for Ad-Hoc Multi-Robot Deployments in GNSS-Denied Environments
Carmen Martínez Almansa, Wang Shule, Jorge Peña Queralta +1
Ultra-wideband (UWB) wireless technology has seen an increased penetration in the robotics field as a robust localization method in recent years. UWB enables high accuracy distance…
UWB-based system for UAV Localization in GNSS-Denied Environments: Characterization and Dataset
Jorge Peña Queralta, Carmen Martínez Almansa, Fabrizio Schiano +2
Small unmanned aerial vehicles (UAV) have penetrated multiple domains over the past years. In GNSS-denied or indoor environments, aerial robots require a robust and stable localiza…