Edge AI in Smart Farming IoT: CNNs at the Edge and Fog Computing with LoRa. - Tuan Nguyen Gia; Li Qingqing 001; Jorge Peña Queralta; Zhuo Zou; Hannu Tenhunen; Tomi Westerlund (AFRICON, 2019)

Communication-free and Index-free Distributed Formation Control Algorithm for Multi-robot Systems. - Jorge Peña Queralta; Cassandra McCord; Tuan Nguyen Gia; Hannu Tenhunen; Tomi Westerlund (ANT/EDI40, 2019)

Distributed Progressive Formation Control for Multi-Agent Systems: 2D and 3D deployment of UAVs in ROS/Gazebo with RotorS. - Cassandra McCord; Jorge Peña Queralta; Tuan Nguyen Gia; Tomi Westerlund (ECMR, 2019)

A Survey on LoRa for IoT: Integrating Edge Computing. - Victor K. Sarker; Jorge Peña Queralta; Tuan Nguyen Gia; Hannu Tenhunen; Tomi Westerlund (FMEC, 2019)

Lossless Compression Techniques in Edge Computing for Mission-Critical Applications in the IoT. - Tuan Nguyen Gia; Qingqing Li 001; Jorge Peña Queralta; Hannu Tenhunen; Zhuo Zou; Tomi Westerlund (ICMU, 2019)

Edge AI and Blockchain for Privacy-Critical and Data-Sensitive Applications. - Anum Nawaz; Tuan Nguyen Gia; Jorge Peña Queralta; Tomi Westerlund (ICMU, 2019)

Visual Odometry Offloading in Internet of Vehicles with Compression at the Edge of the Network. - Qingqing Li 001; Jorge Peña Queralta; Tuan Nguyen Gia; Hannu Tenhunen; Zhuo Zou; Tomi Westerlund (ICMU, 2019)

Edge Computing for Mobile Robots: Multi-Robot Feature-Based Lidar Odometry with FPGAs. - Qingqing Li 001; F. Yuhong; Jorge Peña Queralta; Tuan Nguyen Gia; Hannu Tenhunen; Zhuo Zou; Tomi Westerlund (ICMU, 2019)

Offloading Monocular Visual Odometry with Edge Computing: Optimizing Image Quality in Multi-Robot Systems. - Qingqing Li 001; Jorge Peña Queralta; Tuan Nguyen Gia; Tomi Westerlund (ICSCC, 2019)

FPGA-based Architecture for a Low-Cost 3D Lidar Design and Implementation from Multiple Rotating 2D Lidars with ROS. - Jorge Peña Queralta; F. Yuhong; Li Salomaa; Qingqing Li 001; Tuan Nguyen Gia; Zhuo Zou; Hannu Tenhunen; Tomi Westerlund (IEEE SENSORS, 2019)

Edge Computing with Embedded AI: Thermal Image Analysis for Occupancy Estimation in Intelligent Buildings. - Aly Metwaly; Jorge Peña Queralta; Victor Kathan Sarker; Tuan Nguyen Gia; Omar Nasir; Tomi Westerlund (INTESA, 2019)

Detecting Water Reflection Symmetries in Point Clouds for Camera Position Calibration in Unmanned Surface Vehicles. - Qingqing Li 001; Jorge Peña Queralta; Tuan Nguyen Gia; Zhuo Zou; Hannu Tenhunen; Tomi Westerlund (ISCIT, 2019)

Artificial Intelligence at the Edge in the Blockchain of Things. - Tuan Nguyen Gia; Anum Nawaz; Jorge Peña Queralta; Hannu Tenhunen; Tomi Westerlund (MobiHealth, 2019)

Collaborative Mapping with IoE-based Heterogeneous Vehicles for Enhanced Situational Awareness. - Jorge Peña Queralta; Tuan Nguyen Gia; Hannu Tenhunen; Tomi Westerlund (SAS, 2019)

Distributed Progressive Formation Control with One-Way Communication for Multi-Agent Systems. - Jorge Peña Queralta; Tuan Nguyen Gia; Hannu Tenhunen; Tomi Westerlund; Qingqing Li 001; Zhuo Zou (SSCI, 2019)

Edge-AI in LoRa-based Health Monitoring: Fall Detection System with Fog Computing and LSTM Recurrent Neural Networks. - Jorge Peña Queralta; Tuan Nguyen Gia; Hannu Tenhunen; Tomi Westerlund (TSP, 2019)

Managing Collaboration in Heterogeneous Swarms of Robots with Blockchains. - Jorge Peña Queralta; Tomi Westerlund (CoRR, 2019)

End-to-End Design for Self-Reconfigurable Heterogeneous Robotic Swarms. - Jorge Peña Queralta; Li Qingqing 001; Tuan Nguyen Gia; Hong Linh Truong 001; Tomi Westerlund (DCOSS, 2020)

Ubiquitous Distributed Deep Reinforcement Learning at the Edge: Analyzing Byzantine Agents in Discrete Action Spaces. - Wenshuai Zhao; Jorge Peña Queralta; Li Qingqing 001; Tomi Westerlund (EUSPN/ICTH, 2020)

Enhancing Autonomy with Blockchain and Multi-Access Edge Computing in Distributed Robotic Systems. - Jorge Peña Queralta; Qingqing Li 001; Zhuo Zou; Tomi Westerlund (FMEC, 2020)

UWB-Based Localization for Multi-UAV Systems and Collaborative Heterogeneous Multi-Robot Systems. - Wang Shule; Carmen Martínez Almansa; Jorge Peña Queralta; Zhuo Zou; Tomi Westerlund (FNC/MobiSPC, 2020)

Autocalibration of a UWB Localization System for Dynamic and Ad-Hoc Deployments in GNSS-Denied Environments. - Carmen Martínez Almansa; Wang Shule; Jorge Peña Queralta; Tomi Westerlund (ICL-GNSS (Work in Progress), 2020)

UWB-based System for UAV Localization in GNSS-Denied Environments: Characterization and Dataset. - Jorge Peña Queralta; Carmen Martínez Almansa; Fabrizio Schiano; Dario Floreano; Tomi Westerlund (IROS, 2020)

Sim-to-Real Transfer in Deep Reinforcement Learning for Robotics: a Survey. - Wenshuai Zhao; Jorge Peña Queralta; Tomi Westerlund (SSCI, 2020)

Towards Active Vision with UAVs in Marine Search and Rescue: Analyzing Human Detection at Variable Altitudes. - Li Qingqing 001; Jussi Taipalmaa; Jorge Peña Queralta; Tuan Nguyen Gia; Moncef Gabbouj; Hannu Tenhunen; Jenni Raitoharju; Tomi Westerlund (SSRR, 2020)

Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception, and Active Vision. - Jorge Peña Queralta; Jussi Taipalmaa; Bilge Can Pullinen; Victor Kathan Sarker; Tuan Nguyen Gia; Hannu Tenhunen; Moncef Gabbouj; Jenni Raitoharju; Tomi Westerlund (IEEE Access, 2020)

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; Tomi Westerlund (CoRR, 2020)

Multi-Scale Supervised 3D U-Net for Kidneys and Kidney Tumor Segmentation. - Wenshuai Zhao; Dihong Jiang; Jorge Peña Queralta; Tomi Westerlund (CoRR, 2020)

UWB-Based Localization for Multi-UAV Systems and Collaborative Heterogeneous Multi-Robot Systems: a Survey. - Wang Shule; Carmen Martínez Almansa; Jorge Peña Queralta; Zhuo Zou; Tomi Westerlund (CoRR, 2020)

AutoSOS: Towards Multi-UAV Systems Supporting Maritime Search and Rescue with Lightweight AI and Edge Computing. - Jorge Peña Queralta; Jenni Raitoharju; Tuan Nguyen Gia; Nikolaos Passalis; Tomi Westerlund (CoRR, 2020)

Blockchain for Mobile Edge Computing: Consensus Mechanisms and Scalability. - Jorge Peña Queralta; Tomi Westerlund (CoRR, 2020)

Towards Closing the Sim-to-Real Gap in Collaborative Multi-Robot Deep Reinforcement Learning. - Wenshuai Zhao; Jorge Peña Queralta; Li Qingqing 001; Tomi Westerlund (CoRR, 2020)

Collaborative Multi-Robot Systems for Search and Rescue: Coordination and Perception. - Jorge Peña Queralta; Jussi Taipalmaa; Bilge Can Pullinen; Victor Kathan Sarker; Tuan Nguyen Gia; Hannu Tenhunen; Moncef Gabbouj; Jenni Raitoharju; Tomi Westerlund (CoRR, 2020)

Localization in Unstructured Environments: Towards Autonomous Robots in Forests with Delaunay Triangulation. - Qingqing Li 001; Paavo Nevalainen; Jorge Peña Queralta; Jukka Heikkonen; Tomi Westerlund (Remote. Sens., 2020)

Edge Computing to Secure IoT Data Ownership and Trade with the Ethereum Blockchain. - Anum Nawaz; Jorge Peña Queralta; Jixin Guan; Muhammad Awais 008; Tuan Nguyen Gia; Ali Kashif Bashir; Haibin Kan; Tomi Westerlund (Sensors, 2020)

Multi-Sensor Fusion for Navigation and Mapping in Autonomous Vehicles: Accurate Localization in Urban Environments. - Qingqing Li 001; Jorge Peña Queralta; Tuan Nguyen Gia; Zhuo Zou; Tomi Westerlund (Unmanned Syst., 2020)

Blockchain for Mobile Edge Computing: Consensus Mechanisms and Scalability. - Jorge Peña Queralta; Tomi Westerlund (Mobile Edge Computing, 2021)

Federated Learning in Robotic and Autonomous Systems. - Xianjia Yu; Jorge Peña Queralta; Jukka Heikkonen; Tomi Westerlund (FNC/MobiSPC, 2021)

Adaptive Lidar Scan Frame Integration: Tracking Known MAVs in 3D Point Clouds. - Qingqing Li 001; Xianjia Yu; Jorge Peña Queralta; Tomi Westerlund (ICAR, 2021)

Applications of UWB Networks and Positioning to Autonomous Robots and Industrial Systems. - Xianjia Yu; Qingqing Li 001; Jorge Peña Queralta; Jukka Heikkonen; Tomi Westerlund (MECO, 2021)

Long-Term Autonomy in Forest Environment using Self-Corrective SLAM. - Paavo Nevalainen; Parisa Movahedi; Jorge Peña Queralta; Tomi Westerlund; Jukka Heikkonen (CoRR, 2021)

Cooperative UWB-Based Localization for Outdoors Positioning and Navigation of UAVs aided by Ground Robots. - Xianjia Yu; Qingqing Li 001; Jorge Peña Queralta; Jukka Heikkonen; Tomi Westerlund (CoRR, 2021)

Towards Large-Scale Scalable MAV Swarms with ROS2 and UWB-based Situated Communication. - Jorge Peña Queralta; Xianjia Yu; Qingqing Li 001; Tomi Westerlund (CoRR, 2021)

An Overview of Federated Learning at the Edge and Distributed Ledger Technologies for Robotic and Autonomous Systems. - Xianjia Yu; Jorge Peña Queralta; Jukka Heikkonen; Tomi Westerlund (CoRR, 2021)

Towards Lifelong Federated Learning in Autonomous Mobile Robots with Continuous Sim-to-Real Transfer. - Xianjia Yu; Jorge Peña Queralta; Tomi Westerlund (EUSPN/ICTH, 2022)

Federated Learning for Vision-based Obstacle Avoidance in the Internet of Robotic Things. - Xianjia Yu; Jorge Peña Queralta; Tomi Westerlund (FMEC, 2022)

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; Daniel Montero Hernández; Jorge Peña Queralta; Tomi Westerlund (FMEC, 2022)

Decentralized Vision-Based Byzantine Agent Detection in Multi-robot Systems with IOTA Smart Contracts. - Sahar Salimpour; Farhad Keramat; Jorge Peña Queralta; Tomi Westerlund (FPS, 2022)

VIO-UWB-Based Collaborative Localization and Dense Scene Reconstruction within Heterogeneous Multi-Robot Systems. - Jorge Peña Queralta; Qingqing Li 001; Fabrizio Schiano; Tomi Westerlund (ICARM, 2022)

Distributed Ledger Technologies for Managing Heterogenous Computing Systems at the Edge. - Daniel Montero Hernández; Jorge Peña Queralta; Tomi Westerlund (IOTSMS, 2022)

Self-Calibrating Anomaly and Change Detection for Autonomous Inspection Robots. - Sahar Salimpour; Jorge Peña Queralta; Tomi Westerlund (IRC, 2022)

Multi-Modal Lidar Dataset for Benchmarking General-Purpose Localization and Mapping Algorithms. - Qingqing Li 001; Xianjia Yu; Jorge Peña Queralta; Tomi Westerlund (IROS, 2022)

UWB Role Allocation with Distributed Ledger Technologies for Scalable Relative Localization in Multi-Robot Systems. - Paola Torrico Morón; Salma Salimi; Jorge Peña Queralta; Tomi Westerlund (ROSE, 2022)

Secure Heterogeneous Multi-Robot Collaboration and Docking with Hyperledger Fabric Blockchain. - Salma Salimi; Paola Torrico Morón; Jorge Peña Queralta; Tomi Westerlund (WF-IoT, 2022)

Towards Managing Industrial Robot Fleets with Hyperledger Fabric Blockchain and ROS 2. - Salma Salimi; Jorge Peña Queralta; Tomi Westerlund (CoRR, 2022)

Towards Large-Scale Relative Localization in Multi-Robot Systems with Dynamic UWB Role Allocation. - Paola Torrico Morón; Jorge Peña Queralta; Tomi Westerlund (CoRR, 2022)

Analyzing General-Purpose Deep-Learning Detection and Segmentation Models with Images from a Lidar as a Camera Sensor. - Xianjia Yu; Sahar Salimpour; Jorge Peña Queralta; Tomi Westerlund (CoRR, 2022)

Partition-Tolerant and Byzantine-Tolerant Decision-Making for Distributed Robotic Systems with IOTA and ROS 2. - Farhad Keramat; Jorge Peña Queralta; Tomi Westerlund (CoRR, 2022)

Vision-based GNSS-Free Localization for UAVs in the Wild. - Marius-Mihail Gurgu; Jorge Peña Queralta; Tomi Westerlund (CoRR, 2022)

Secure Encoded Instruction Graphs for End-to-End Data Validation in Autonomous Robots. - Jorge Peña Queralta; Qingqing Li 001; Eduardo Castelló Ferrer; Tomi Westerlund (IEEE Internet Things J., 2022)

UAV Tracking with Solid-State Lidars: Dynamic Multi-Frequency Scan Integration. - Iacopo Catalano; Sier Ha; Xianjia Yu; Tomi Westerlund; Jorge Peña Queralta (ICAR, 2023)

UAV Tracking with Lidar as a Camera Sensor in GNSS-Denied Environments. - Sier Ha; Xianjia Yu; Iacopo Catalano; Jorge Peña Queralta; Zhuo Zou; Tomi Westerlund (ICL-GNSS, 2023)

Towards Robust UAV Tracking in GNSS-Denied Environments: A Multi-LiDAR Multi-UAV Dataset. - Iacopo Catalano; Xianjia Yu; Jorge Peña Queralta (ROBIO, 2023)

Benchmarking UWB-Based Infrastructure-Free Positioning and Multi-Robot Relative Localization: Dataset and Characterization. - Paola Torrico Morón; Sahar Salimpour; Lei Fu; Xianjia Yu; Jorge Peña Queralta; Tomi Westerlund (SAS, 2023)

Hyperledger Fabric Blockchain and ROS 2 Integration for Autonomous Mobile Robots. - Salma Salimi; Jorge Peña Queralta; Tomi Westerlund (SII, 2023)

Robust Multi-Modal Multi-LiDAR-Inertial Odometry and Mapping for Indoor Environments. - Qingqing Li 001; Xianjia Yu; Jorge Peña Queralta; Tomi Westerlund (CoRR, 2023)

Evaluating the Performance of Multi-Scan Integration for UAV LiDAR-based Tracking. - Iacopo Catalano; Jorge Peña Queralta; Tomi Westerlund (CoRR, 2023)

Event-driven Fabric Blockchain - ROS 2 Interface: Towards Secure and Auditable Teleoperation of Mobile Robots. - Lei Fu; Salma Salimi; Jorge Peña Queralta; Tomi Westerlund (CoRR, 2023)

Is Alice Really in Wonderland? UWB-Based Proof of Location for UAVs with Hyperledger Fabric Blockchain. - Lei Fu; Paola Torrico Morón; Jorge Peña Queralta; David Hästbacka; Harry Edelman; Tomi Westerlund (CoRR, 2023)

Simulation Analysis of Exploration Strategies and UAV Planning for Search and Rescue. - Phuoc Nguyen Thuan; Jorge Peña Queralta; Tomi Westerlund (CoRR, 2023)

Loosely Coupled Odometry, UWB Ranging, and Cooperative Spatial Detection for Relative Monte-Carlo Multi-Robot Localization. - Xianjia Yu; Paola Torrico Morrón; Sahar Salimpour; Jorge Peña Queralta; Tomi Westerlund (CoRR, 2023)

A Customizable Conflict Resolution and Attribute-Based Access Control Framework for Multi-Robot Systems. - Salma Salimi; Farhad Keramat; Tomi Westerlund; Jorge Peña Queralta (CoRR, 2023)

Comparison of DDS, MQTT, and Zenoh in Edge-to-Edge and Edge-to-Cloud Communication for Distributed ROS 2 Systems. - Jiaqiang Zhang; Xianjia Yu; Sier Ha; Jorge Peña Queralta; Tomi Westerlund (CoRR, 2023)

Less Is More: Robust Robot Learning via Partially Observable Multi-Agent Reinforcement Learning. - Wenshuai Zhao; Eetu-Aleksi Rantala; Joni Pajarinen; Jorge Peña Queralta (CoRR, 2023)

Exploiting redundancy for UWB anomaly detection in infrastructure-free multi-robot relative localization. - Sahar Salimpour; Paola Torrico Morón; Xianjia Yu; Tomi Westerlund; Jorge Peña Queralta (Frontiers Robotics AI, 2023)

Vision-based safe autonomous UAV docking with panoramic sensors. - Phuoc Nguyen Thuan; Tomi Westerlund; Jorge Peña Queralta (Frontiers Robotics AI, 2023)

General-Purpose Deep Learning Detection and Segmentation Models for Images from a Lidar-Based Camera Sensor. - Xianjia Yu; Sahar Salimpour; Jorge Peña Queralta; Tomi Westerlund (Sensors, 2023)

Partition-Tolerant and Byzantine-Tolerant Decision Making for Distributed Robotic Systems With IOTA and ROS2. - Farhad Keramat; Jorge Peña Queralta; Tomi Westerlund (IEEE Internet Things J., 2023)

A Benchmark for Multi-Modal LiDAR SLAM with Ground Truth in GNSS-Denied Environments. - Sier Ha; Qingqing Li 001; Xianjia Yu; Jorge Peña Queralta; Zhuo Zou; Tomi Westerlund (Remote. Sens., 2023)

On Automatic Person-in-Water Detection for Marine Search and Rescue Operations. - Jussi Taipalmaa; Jenni Raitoharju; Jorge Peña Queralta; Tomi Westerlund; Moncef Gabbouj (IEEE Access, 2024)

Benchmarking ML Approaches to UWB-Based Range-Only Posture Recognition for Human Robot-Interaction. - Salma Salimi; Sahar Salimpour; Jorge Peña Queralta; Wallace Moreira Bessa; Tomi Westerlund (CoRR, 2024)

Building Better Models: Benchmarking Feature Extraction and Matching for Structure from Motion at Construction Sites. - Carlos Roberto Cueto Zumaya; Iacopo Catalano; Jorge Peña Queralta (Remote. Sens., 2024)

Comparison of Middlewares in Edge-to-Edge and Edge-to-Cloud Communication for Distributed ROS 2 Systems. - Jiaqiang Zhang; Xianjia Yu; Sier Ha; Jorge Peña Queralta; Tomi Westerlund (J. Intell. Robotic Syst., 2024)

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; Jukka Heikkonen; Tomi Westerlund (CoRR, 2025)

Shared Control of Holonomic Wheelchairs through Reinforcement Learning. - Jannis Bähler; Diego Paez-Granados; Jorge Peña Queralta (CoRR, 2025)

Towards Embodied Agentic AI: Review and Classification of LLM- and VLM-Driven Robot Autonomy and Interaction. - Sahar Salimpour; Lei Fu; Farhad Keramat; Leonardo Militano; Giovanni Toffetti; Harry Edelman; Jorge Peña Queralta (CoRR, 2025)