140 citations · 948 across the 57 of their papers we have counts for
15 papers · 1 filter
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…
Decentralized Vision-Based Byzantine Agent Detection in Multi-Robot Systems with IOTA Smart Contracts
Sahar Salimpour, Farhad Keramat, Jorge Peña Queralta +1
Multiple opportunities lie at the intersection of multi-robot systems and distributed ledger technologies (DLTs). In this work, we investigate the potential of new DLT solutions su…
A Benchmark for Multi-Modal Lidar SLAM with Ground Truth in GNSS-Denied Environments
Ha Sier, Li Qingqing, Yu Xianjia +3
Lidar-based simultaneous localization and mapping (SLAM) approaches have obtained considerable success in autonomous robotic systems. This is in part owing to the high-accuracy of…
UWB Role Allocation with Distributed Ledger Technologies for Scalable Relative Localization in Multi-Robot Systems
Paola Torrico Morón, Salma Salimi, Jorge Peña Queralta +1
Systems for relative localization in multi-robot systems based on ultra-wideband (UWB) ranging have recently emerged as robust solutions for GNSS-denied environments. Scalability r…
Partition-Tolerant and Byzantine-Tolerant Decision-Making for Distributed Robotic Systems with IOTA and ROS 2
Farhad Keramat, Jorge Peña Queralta, Tomi Westerlund
With the increasing ubiquity of autonomous robotic solutions, the interest in their connectivity and in the cooperation within multi-robot systems is rising. Two aspects that are a…
Self-Calibrating Anomaly and Change Detection for Autonomous Inspection Robots
Sahar Salimpour, Jorge Peña Queralta, Tomi Westerlund
Automatic detection of visual anomalies and changes in the environment has been a topic of recurrent attention in the fields of machine learning and computer vision over the past d…
Secure Heterogeneous Multi-Robot Collaboration and Docking with Hyperledger Fabric Blockchain
Salma Salimi, Paola Torrico Morón, Jorge Peña Queralta +1
In recent years, multi-robot systems have received increasing attention from both industry and academia. Besides the need of accurate and robust estimation of relative localization…
Towards Lifelong Federated Learning in Autonomous Mobile Robots with Continuous Sim-to-Real Transfer
Xianjia Yu, Jorge Pena Queralta, Tomi Westerlund
The role of deep learning (DL) in robotics has significantly deepened over the last decade. Intelligent robotic systems today are highly connected systems that rely on DL for a var…
Federated Learning for Vision-based Obstacle Avoidance in the Internet of Robotic Things
Xianjia Yu, Jorge Peña Queralta, Tomi Westerlund
Deep learning methods have revolutionized mobile robotics, from advanced perception models for an enhanced situational awareness to novel control approaches through reinforcement l…
Analyzing General-Purpose Deep-Learning Detection and Segmentation Models with Images from a Lidar as a Camera Sensor
Yu Xianjia, Sahar Salimpour, Jorge Peña Queralta +1
Over the last decade, robotic perception algorithms have significantly benefited from the rapid advances in deep learning (DL). Indeed, a significant amount of the autonomy stack o…
Towards Large-Scale Relative Localization in Multi-Robot Systems with Dynamic UWB Role Allocation
Paola Torrico Morón, Jorge Peña Queralta, Tomi Westerlund
Ultra-wideband (UWB) ranging has emerged as a key radio technology for robot positioning and relative localization in multi-robot systems. Multiple works are now advancing towards…
Multi-Modal Lidar Dataset for Benchmarking General-Purpose Localization and Mapping Algorithms
Qingqing Li, Xianjia Yu, Jorge Peña Queralta +1
Lidar technology has evolved significantly over the last decade, with higher resolution, better accuracy, and lower cost devices available today. In addition, new scanning modaliti…
Hyperledger Fabric Blockchain and ROS 2 Integration for Autonomous Mobile Robots
Salma Salimi, Jorge Peña Queralta, Tomi Westerlund
In industrial applications, security and trust in the system are requirements for widespread adoption. Blockchain technologies have emerged as a potential solution to address ident…