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UWB-Based Localization for Multi-UAV systems and Collaborative Heterogeneous Multi-Robot systems

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Procedia Computer Science 2020年 175卷 357-364页

作者： Wang Shule Carmen Martínez Almansa Jorge Peña Queralta Zhuo Zou Tomi Westerlund School of Information Science and Technology Fudan University Shanghai China Turku Intelligent Embedded and Robotic Systems Lab University of Turku Turku Finland

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 wireless localization solutions is enabling a wider range of collaborative and multi-robot application scenarios, being able to replace more complex and expensive motion-capture areas for use cases where accuracy in the order of tens of centimeters is sufficient. We present the first survey of UWB-based localization focused on multi-UAV systems and heterogeneous multi-robot systems. We have found that previous literature reviews do not consider in-depth the challenges in both aerial navigation and navigation with multiple robots, but also in terms of heterogeneous multi-robot systems. In particular, this is, to the best of our knowledge, the first survey to review recent advances in UWB-based (i) methods that enable ad-hoc and dynamic deployments; (ii) collaborative localization techniques; and (iii) cooperative sensing and cooperative maneuvers such as UAV docking on mobile platforms. Finally, we also review existing datasets and discuss the potential of this technology for both localization in GNSS-denied environments and collaboration in multi-robot systems.

关键词： UWB robotics UAVs Multi-Robot systems Multi-UAV systems Ultra-wideband Localization GNSS-Denied Environments

Edge AI and Blockchain for Privacy-Critical and Data-Sensitive Applications

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Edge AI and Blockchain for Privacy-Critical and Data-Sensiti...

International Conference on Mobile Computing and Ubiquitous Networking (ICMU)

作者： A. Nawaz T. N. Gia J. Peña Queralta T. Westerlund Turku Intelligent and Embedded Robotic Systems (TIERS) University of Turku Finland

ISBN: (数字)9784907626419

ISBN: (纸本)9781728142265

The edge and fog computing paradigms enable more responsive and smarter systems without relying on cloud servers for data processing and storage. This reduces network load as well as latency. Nonetheless, the addition of new layers in the network architecture increases the number of security vulnerabilities. In privacy-critical systems, the appearance of new vulnerabilities is more significant. To cope with this issue, we propose and implement an Ethereum Blockchain based architecture with edge artificial intelligence to analyze data at the edge of the network and keep track of the parties that access the results of the analysis, which are stored in distributed databases.

关键词： Artificial intelligence Edge computing Medical services Logic gates Electrocardiography Feature extraction

Blockchain-Powered Collaboration in Heterogeneous Swarms of Robots

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arXiv 2019年

作者： Queralta, Jorge Peña Westerlund, Tomi Turku Intelligent Embedded and Robotic Systems Faculty of Science and Engineering University of Turku Finland

—One of the key challenges in the collaboration within heterogeneous multi-robot systems is the optimization of the amount and type of data to be shared between robots with different sensing capabilities and computational resources. In this paper, we present a novel approach to managing collaboration terms in heterogeneous multi-robot systems with blockchain technology. Leveraging the extensive research of consensus algorithms in the blockchain domain, we exploit key technologies in this field to be integrated for consensus in robotic systems. We propose the utilization of proof of work systems to have an online estimation of the available computational resources at different robots. Furthermore, we define smart contracts that integrate information about the environment from different robots in order to evaluate and rank the quality and accuracy of each of the robots’ sensor data. This means that the key parameters involved in heterogeneous robotic collaboration are integrated within the Blockchain and estimated at all robots equally without explicitly sharing information about the robots’ hardware or sensors. Trustability is based on the verification of data samples that are submitted to the blockchain within each data exchange transaction, and validated by other robots operating in the same environment. Initial results are reported which show the viability of the concepts presented in this paper. Copyright © 2019, The Authors. All rights reserved.

关键词： Blockchain

End-to-End Design for Self-Reconfigurable Heterogeneous robotic Swarms

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End-to-End Design for Self-Reconfigurable Heterogeneous Robo...

International Conference on Distributed Computing in Sensor systems (DCOSS)

作者： Jorge Peña Queralta Li Qingqing Tuan Nguyen Gia Hong-Linh Truong Tomi Westerlund Turku Intelligent Embedded and Robotic Systems (TIERS) Lab University of Turku Turku Finland Department of Computer Science Aalto University Finland

The following topics are dealt with: Internet of Things; wireless sensor networks; mobile robots; autonomous aerial vehicles; learning (artificial intelligence); control engineering computing; mobile computing; protoc... 详细信息

ISBN: (数字)9781728143514

ISBN: (纸本)9781728198040

关键词： Robot sensing systems Drones Robot kinematics Collaboration Cloud computing

Multi-Scale Supervised 3D U-Net for Kidneys and Kidney Tumor Segmentation

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arXiv 2020年

作者： Zhao, Wenshuai Jiang, Dihong Queralta, Jorge Peña Westerlund, Tomi School of Information Science and Technology Fudan University China Turku Intelligent Embedded and Robotic Systems Lab University of Turku Finland

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 segmentation is currently performed by clinicians from the visual inspection images gathered through a computed tomography (CT) scan. This process is laborious and its success significantly depends on previous experience. Moreover, the uncertainty in the tumor location and heterogeneity of scans across patients increases the error rate. To tackle this issue, computer-aided segmentation based on deep learning techniques have become increasingly popular. We present a multi-scale supervised 3D U-Net, MSS U-Net, to automatically segment kidneys and kidney tumors from CT images. Our architecture combines deep supervision with exponential logarithmic loss to increase the 3D U-Net training efficiency. Furthermore, we introduce a connected-component based post processing method to enhance the performance of the overall process. This architecture shows superior performance compared to state-of-the-art works using data from KiTS19 public dataset, with the Dice coefficient of kidney and tumor up to 0.969 and 0.805 respectively. The segmentation techniques introduced in this paper have been tested in the KiTS19 challenge with its corresponding dataset. Copyright © 2020, The Authors. All rights reserved.

关键词： Tumors

UWB-Based Localization for Multi-UAV systems and Collaborative Heterogeneous Multi-Robot systems: a Survey

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arXiv 2020年

作者： Shule, Wang Almansa, Carmen Martínez Queralta, Jorge Peña Zou, Zhuo Westerlund, Tomi School of Information Science and Technology Fudan University Shanghai China Turku Intelligent Embedded and Robotic Systems Lab University of Turku Turku Finland

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 wireless localization solutions is enabling a wider range of collaborative and multi-robot application scenarios, being able to replace more complex and expensive motion-capture areas for use cases where accuracy in the order of tens of centimeters is sufficient. We present the first survey of UWB-based localization focused on multi-UAV systems and heterogeneous multi-robot systems. We have found that previous literature reviews do not consider in-depth the challenges in both aerial navigation and navigation with multiple robots, but also in terms of heterogeneous multi-robot systems. In particular, this is, to the best of our knowledge, the first survey to review recent advances in UWB-based (i) methods that enable ad-hoc and dynamic deployments;(ii) collaborative localization techniques;and (iii) cooperative sensing and cooperative maneuvers such as UAV docking on mobile platforms. Finally, we also review existing datasets and discuss the potential of this technology for both localization in GNSS-denied environments and collaboration in multi-robot systems. Copyright © 2020, The Authors. All rights reserved.

关键词： Surveys

Collaborative Multi-Robot systems for Search and Rescue: Coordination and Perception

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arXiv 2020年

作者： Queralta, Jorge Peña Taipalmaa, Jussi Pullinen, Bilge Can Sarker, Victor Kathan Gia, Tuan Nguyen Tenhunen, Hannu Gabbouj, Moncef Raitoharju, Jenni Westerlund, Tomi Turku Intelligent Embedded and Robotic Systems University of Turku Finland Department of Computing Sciences Tampere University Finland

—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 human operators, one of the areas where they can have more impact is in search and rescue (SAR) operations. In particular, multi-robot systems have the potential to significantly improve the efficiency of SAR personnel with faster search of victims, initial assessment and mapping of the environment, real-time monitoring and surveillance of SAR operations, or establishing emergency communication networks, among other possibilities. SAR operations encompass a wide variety of environments and situations, and therefore heterogeneous and collaborative multirobot systems can provide the most advantages. In this paper, we review and analyze the existing approaches to multi-robot SAR support, from an algorithmic perspective and putting an emphasis on the methods enabling collaboration among the robots as well as advanced perception through machine vision and multi-agent active perception. Furthermore, we put these algorithms in the context of the different challenges and constraints that various types of robots (ground, aerial, surface or underwater) encounter in different SAR environments (maritime, urban, wilderness or other post-disaster scenarios). This is, to the best of our knowledge, the first review considering heterogeneous SAR robots across different environments, while giving two complimentary points of view: control mechanisms and machine perception. Based on our review of the state-of-the-art, we discuss the main open research questions, and outline our insights on the current approaches that have potential to improve the real-world performance of multi-robot SAR systems. Copyright © 2020, The Authors. All rights reserved.

关键词： Multi agent systems

UAV Tracking with Lidar as a Camera Sensor in GNSS-Denied Environments

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UAV Tracking with Lidar as a Camera Sensor in GNSS-Denied En...

International Conference on Localization and GNSS (ICL-GNSS)

作者： Ha Sier Xianjia Yu Iacopo Catalano Jorge Peña Queralta Zhuo Zou Tomi Westerlund School of Information Science and Technology Fudan Universtiy China Turku Intelligent Embedded and Robotic Systems (TIERS) Lab University of Turku Finland

Light detection and ranging (LiDAR) sensor 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 them, LiDAR-as-a-camera sensors provide not only 3D point clouds but also fixed-resolution 360°panoramic images by encoding either depth, reflectivity, or near-infrared light in the image pixels. This potentially brings computer vision capabilities on top of the potential of LiDAR itself. In this paper, we are specifically interested in utilizing LiDARs and LiDAR-generated images for tracking Unmanned Aerial Vehicles (UAVs) in real-time which can benefit applications including docking, remote identification, or counter-UAV systems, among others. This is, to the best of our knowledge, the first work that explores the possibility of fusing the images and point cloud generated by a single LiDAR sensor to track a UAV without a priori known initialized position. We trained a custom YOLOv5 model for detecting UAVs based on the panoramic images collected in an indoor experiment arena with a motion capture (MOCAP) system. By integrating with the point cloud, we are able to continuously provide the position of the UAV. Our experiment demonstrated the effectiveness of the proposed UAV tracking approach compared with methods based only on point clouds or images. Additionally, we evaluated the real-time performance of our approach on the Nvidia Jetson Nano, a popular mobile computing platform.

关键词：

UWB-based System for UAV Localization in GNSS-Denied Environments: Characterization and Dataset

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UWB-based System for UAV Localization in GNSS-Denied Environ...

2020 IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Jorge Peña Queralta Carmen Martínez Almansa Fabrizio Schiano Dario Floreano Tomi Westerlund Turku Intelligent Embedded and Robotic Systems (TIERS) Lab University of Turku Turku Finland Laboratory of Intelligent Systems (LIS) École Polytechnique Fédérale de Lausanne (EPFL) Lausanne Switzerland

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

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 localization system, often with external feedback, in order to fly safely. Motion capture systems are typically utilized indoors when accurate localization is needed. However, these systems are expensive and most require a fixed setup. In this paper, we study and characterize an ultra-wideband (UWB) system for navigation and localization of aerial robots indoors based on Decawave's DWM1001 UWB node. The system is portable, inexpensive and can be battery powered in its totality. We show the viability of this system for autonomous flight of UAVs, and provide open-source methods and data that enable its widespread application even with movable anchor systems. We characterize the accuracy based on the position of the UAV with respect to the anchors, its altitude and speed, and the distribution of the anchors in space. Finally, we analyze the accuracy of the self-calibration of the anchors' positions.

关键词： Location awareness Navigation Unmanned aerial vehicles Indoor environment Open source software intelligent robots Ultra wideband technology