8 citations · 12 across the 5 of their papers we have counts for
7 papers
Decentralized Intent-Based Multi-Robot Task Planner with LLM Oracles on Hyperledger Fabric
Farhad Keramat, Salma Salimi, Tomi Westerlund
Large language models (LLMs) have opened new opportunities for transforming natural language user intents into executable actions. This capability enables embodied AI agents to per…
Seamless Outdoor-Indoor Pedestrian Positioning System with GNSS/UWB/IMU Fusion: A Comparison of EKF, FGO, and PF
Jiaqiang Zhang, Xianjia Yu, Sier Ha +5
Accurate and continuous pedestrian positioning across outdoor-indoor environments remains challenging because GNSS, UWB, and inertial PDR are complementary yet individually fragile…
Towards Embodied Agentic AI: Review and Classification of LLM- and VLM-Driven Robot Autonomy and Interaction
Sahar Salimpour, Lei Fu, Kajetan Rachwał +8
Foundation models, including large language models (LLMs) and vision-language models (VLMs), have recently enabled novel approaches to robot autonomy and human-robot interfaces. In…
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…
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…
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…
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…