Publications

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Muntean, I., Frasheri, M. & Munaro, T. (2025). A Case Study on the Application of Digital Twins for Enhancing CPS Operations. Electronic Proceedings in Theoretical Computer Science, EPTCS, 418, 24-31. https://doi.org/10.4204/EPTCS.418.3

Boudjadar, J. & Frasheri, M. (2025). A Digital Twin Enabled Runtime Analysis and Mitigation for Autonomous Robots Under Uncertainties. In Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO (pp. 96-104). SCITEPRESS Digital Library. https://doi.org/10.5220/0013772600003982

Mendes, J. M., Frasheri, M. & Larsen, P. G. (2025). Digital Twin-Enabled Collision Mitigation for Path Constrained Applications. In 2025 11th International Conference on Automation, Robotics, and Applications (ICARA) (2025 ed., pp. 394-398) https://doi.org/10.1109/ICARA64554.2025.10977591

Kristensen, M., Wright, T. D., Gomes, C., Esterle, L. & Larsen, P. G. (2025). DynSRV: Dynamically Updated Properties for Stream Runtime Verification. In Runtime Verification (pp. 101-119). Springer. https://doi.org/10.1007/978-3-032-05435-7_7

Castillo-Sánchez, J. B., Cano-García, J. M., González-Parada, E. & Frasheri, M. (2025). Enabling Autonomous Agents for Mobile Wireless Sensor Networks. Applied Sciences (Switzerland), 15(11), Article 6193. https://doi.org/10.3390/app15116193

Rubak, J. A. B., Naveed, K., Jain, S., Esterle, L., Iosifidis, A. & Pauwels, R. (2025). Impact of Labeling Inaccuracy and Image Noise on Tooth Segmentation in Panoramic Radiographs using Federated, Centralized and Local Learning. ArXiv. https://doi.org/10.48550/arXiv.2509.06553

Gil Arboleda, S., Oakes, B. J., Gomes, C., Frasheri, M. & Larsen, P. G. (2025). Toward a systematic reporting framework for Digital Twins: a cooperative robotics case study. Simulation, 101(3), 313-339. https://doi.org/10.1177/00375497241261406

Thomsen, A. K., Rasmussen, B. S., Frasheri, M., Gil Arboleda, S. & Larsen, P. G. (2025). Towards Digital Twin Aided Autonomy for a UR3e Robotic Manipulator. In A. Cavalcanti, S. Foster & R. Richardson (Eds.), Towards Autonomous Robotic Systems (pp. 295-309). Springer. https://doi.org/10.1007/978-3-032-01486-3_24

Frasheri, M., Talasila, P. & Scherma, V. (2025). Towards Federated Digital Twin Platforms. Electronic Proceedings in Theoretical Computer Science, EPTCS, 418, 32-38. https://doi.org/10.4204/EPTCS.418.4

Frasheri, M., Talasila, P., Larsen, P. G. & Esterle, L. (2025). Towards multi-fidelity digital twins for dynamic adaption and efficient distributed simulation. In Proceedings - 2025 IEEE International Conference on Pervasive Computing and Communications Workshops and other Affiliated Events, PerCom Workshops 2025 (2025 ed., pp. 128-133). IEEE. https://doi.org/10.1109/PerComWorkshops65533.2025.00053

Frasheri, M., Böttjer, T., Larsen, P. G., Esterle, L. & Gomes, C. (2024). Advanced Digital Twin Services. In J. Fitzgerald, C. Gomes & P. G. Larsen (Eds.), The Engineering of Digital Twins (pp. 209-222). Springer. https://doi.org/10.1007/978-3-031-66719-0_10

Esterle, L., Frasheri, M. & Larsen, P. G. (2024). Autonomous Reconfiguration Enabled by Digital Twins. In J. Fitzgerald, C. Gomes & P. G. Larsen (Eds.), The Engineering of Digital Twins (pp. 345-362). Springer. https://doi.org/10.1007/978-3-031-66719-0_14

Oakes, B. J., Zhang, H., Hatledal, L. I., Feng, H., Frasheri, M., Sandberg, M., Gil Arboleda, S. & Gomes, C. (2024). Case Studies in Digital Twins. In J. Fitzgerald, C. Gomes & P. G. Larsen (Eds.), The Engineering of Digital Twins (pp. 257-310). Springer. https://doi.org/10.1007/978-3-031-66719-0_12

Betzer, J. S., Boudjadar, J., Frasheri, M. & Talasila, P. (2024). Digital Twin Enabled Runtime Verification for Autonomous Mobile Robots under Uncertainty. (pp. 10-17). ArXiv. https://doi.org/10.1109/DS-RT62209.2024.00012

Casadei, R., Esterle, L., Gamble, R., Harvey, P. & Wanner, E. F. (2024). Editorial: Understanding and engineering cyber-physical collectives. Frontiers in Robotics and AI, 11, Article 1407421. https://doi.org/10.3389/frobt.2024.1407421

Domini, D., Aguzzi, G., Esterle, L. & Viroli, M. (2024). Field-Based Coordination for Federated Learning. In I. Castellani & F. Tiezzi (Eds.), Coordination Models and Languages - 26th IFIP WG 6.1 International Conference, COORDINATION 2024, Held as Part of the 19th International Federated Conference on Distributed Computing Techniques, DisCoTec 2024, Proceedings (pp. 56-74). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-031-62697-5_4

Larsen, P. G., Fitzgerald, J., Gomes, C., Woodcock, J., Basagiannis, S., Ulisse, A., Esterle, L., Lucani Rötter, D. E., Hansen, S. T. & Oakes, B. J. (2024). Future Directions and Challenges. In J. Fitzgerald, C. Gomes & P. G. Larsen (Eds.), The Engineering of Digital Twins (pp. 363-386). Springer. https://doi.org/10.1007/978-3-031-66719-0_15

Vindbjerg, L. K. & Esterle, L. (2024). Generative Models for Temporal-based Task Definition. 109-114. Paper presented at 5th IEEE International Conference on Autonomic Computing and Self-Organizing Systems. https://doi.org/10.1109/ACSOS-C63493.2024.00040

Esterle, L., Montagna, S., Pianini, D., Aguzzi, G., Bellman, K. L., Ciatto, G., Contoli, C., Donati, M., Mariani, S., Rahmani, A., Savaglio, C., Storti, E., TaheriNejad, N., van der Sluis, O. & Wang, Z. (2024). MADTECC 2024: 1st Workshop on Medical Applications with Digital Twins and Edge-cloud Continuum - Welcome and Committees. In 2024 IEEE International Conference on Pervasive Computing and Communications Workshops and other Affiliated Events (PerCom Workshops) (pp. 30-31). IEEE. https://doi.org/10.1109/PerComWorkshops59983.2024.10502899

Gomes, C., Lucani Rötter, D. E., Iosifidis, A., Feng, H., Ejersbo, H. & Frasheri, M. (2024). Sensing and Communication of Data from the Physical Twin. In J. Fitzgerald, C. Gomes & P. G. Larsen (Eds.), The Engineering of Digital Twins (pp. 147-171). Springer. https://doi.org/10.1007/978-3-031-66719-0_7#citeas

Frasheri, M., Katsaros, P., Iosifidis, A., Hansen, S. T., Gomes, C., Evans, V. T. & Larsen, P. G. (2024). System Monitoring through a Digital Twin. In J. Fitzgerald, C. Gomes & P. G. Larsen (Eds.), The Engineering of Digital Twins (pp. 189-207). Springer. https://doi.org/10.1007/978-3-031-66719-0_9

Wewer, C. R., Mahapatra, H., Esterle, L. & Larsen, P. G. (2024). Using FactoryML for Deployment of Machine Learning Models in Industrial Production. In T. Facchinetti, A. Cenedese, L. L. Bello, S. Vitturi, T. Sauter & F. Tramarin (Eds.), 2024 IEEE 29th International Conference on Emerging Technologies and Factory Automation, ETFA 2024 IEEE. https://doi.org/10.1109/ETFA61755.2024.10710938

H. Bohlbro, C., Macedo, H. D., Tola, D., Esterle, L. & Larsen, P. G. (2024). Visualisation in a Digital Twin Context. In J. Fitzgerald, C. Gomes & P. G. Larsen (Eds.), The Engineering of Digital Twins (pp. 175-188). Springer. https://doi.org/10.1007/978-3-031-66719-0_8

Frasheri, M., Ejersbo, H., Thule, C., Gomes, C., Kvistgaard, J. L., Larsen, P. G. & Esterle, L. (2023). Addressing time discrepancy between digital and physical twins. Robotics and Autonomous Systems, 161, Article 104347. https://doi.org/10.1016/j.robot.2022.104347

Frasheri, M., Lumer-Klabbers, G., Kvistgaard, J. L., Hausted, J. O., Thule, C., Esterle, L. & Larsen, P. G. (2023). Building Safer Robots: From Simulation to Hardware Deployment. In 2023 27th International Conference on Methods and Models in Automation and Robotics, MMAR 2023 - Proceedings (pp. 63-68). IEEE. https://doi.org/10.1109/MMAR58394.2023.10242467

Armacki, A., Milosevic, N., Bajovic, D., Kar, S., Jakovetic, D., Bakhtiarnia, A., Esterle, L., Muscat, A. & Festi, T. (2023). Communication efficient model-aware federated learning for visual crowd counting and density estimation in smart cities. In 31st European Signal Processing Conference, EUSIPCO 2023 - Proceedings (pp. 875-879). European Signal Processing Conference, EUSIPCO. https://doi.org/10.23919/EUSIPCO58844.2023.10289938

Ejersbo, H., Lausdahl, K., Frasheri, M. & Esterle, L. (2023). Dynamic Runtime Integration of New Models in Digital Twins. ICSE Workshop on Software Engineering for Adaptive and Self-Managing Systems, 44-55. https://doi.org/10.1109/SEAMS59076.2023.00016

Larsen, P. G., Esterle, L., Fitzgerald, J. & Frasheri, M. (2023). Fault Injection in Co-simulation and Digital Twins for Cyber-Physical Robotic Systems. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (pp. 222-236). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-031-40132-9_14

Aguzzi, G., Viroli, M. & Esterle, L. (2023). Field-informed Reinforcement Learning of Collective Tasks with Graph Neural Networks. In Proceedings - 2023 IEEE International Conference on Autonomic Computing and Self-Organizing Systems, ACSOS 2023 (pp. 37-46). IEEE. https://doi.org/10.1109/ACSOS58161.2023.00021

Frasheri, M., Miloradovic, B., Esterle, L. & Papadopoulos, A. V. (2023). GLocal: A Hybrid Approach to the Multi-Agent Mission Re-Planning Problem. Proceedings (IEEE Symposium Series on Computational Intelligence), 1696-1703. https://doi.org/10.1109/SSCI52147.2023.10371893

Esterle, L., Dutt, N., Gruhl, C., Lewis, P. R., Marcenaro, L., Regazzoni, C. & Jantsch, A. (2023). Self-awareness in Cyber-Physical Systems: Recent Developments and Open Challenges. In 2023 Design, Automation & Test in Europe Conference & Exhibition (DATE) IEEE. https://doi.org/10.23919/DATE56975.2023.10137197

Tøttrup, M. F., Hu, E. C., Kramer, B. A., Macedo, H. D. & Esterle, L. (2023). Using INTO-CPS Tools in the Development of a Digital Twin for the F1TENTH Race Car. In P. Masci, C. Bernardeschi, P. Graziani, M. Koddenbrock & M. Palmieri (Eds.), Software Engineering and Formal Methods. SEFM 2022 Collocated Workshops: International Conference on Software Engineering and Formal Methods (pp. 200-209). Springer. https://doi.org/10.1007/978-3-031-26236-4_18

Pianini, D., Pettinari, F., Casadei , R. & Esterle, L. (2022). A Collective Adaptive Approach to Decentralised k-Coverage in Multi-robot Systems. ACM Transactions on Autonomous and Adaptive Systems, 17(1-2), 1-39. Article 4. https://doi.org/10.1145/3547145

Bakhtiarnia, A., Leporowski, B., Esterle, L. & Iosifidis, A. (2022). Analysis of the Effect of Low-Overhead Lossy Image Compression on the Performance of Visual Crowd Counting for Smart City Applications. In 2022 IEEE International Smart Cities Conference (ISC2) IEEE. https://doi.org/10.1109/ISC255366.2022.9921939

Esterle, L. (2022). Collaborative Systems: Learning and Working Together. CEUR Workshop Proceedings, 3461.

Hudert, M. M., Elvebakken, M. F., Meagher, M., Mangliar, L., Zhang, X. & Esterle, L. (2022). Deep learning enhanced robotic fabrication of timber-to-timber connections with densified hardwood nails. In Proceedings of the IASS 2022 Symposium affiliated with APCS 2022 conference: Innovation - Sustainability - Legacy (pp. 1740-1748)

Esterle, L. (2022). Deep learning in multiagent systems. In A. Iosifidis & A. Tefas (Eds.), Deep Learning for Robot Perception and Cognition (pp. 435-460). Elsevier. https://doi.org/10.1016/B978-0-32-385787-1.00022-1

Esterle, L., Ejersbo, H., Frasheri, M., Gomes, C., Macedo, H. D. & Larsen, P. G. (2022). Digital Twins for Autonomous Intelligent Systems: From Development to Deployment. In Proceedings - 2022 IEEE International Conference on Autonomic Computing and Self-Organizing Systems Companion, ACSOS-C 2022 (pp. 53-54). IEEE. https://doi.org/10.1109/ACSOSC56246.2022.00028

Frasheri, M., Struhar, V., Papadopoulos, A. V. & Causevic, A. (2022). Ethics of Autonomous Collective Decision-Making: The Caesar Framework. Science and Engineering Ethics, 28(6), Article 61. https://doi.org/10.1007/s11948-022-00414-0

Pierce, K., Lausdahl, K. & Frasheri, M. (2022). Speeding Up Design Space Exploration through Compiled Master Algorithms. In H. D. Macedo & K. Pierce (Eds.), Proceedings of the 20th International Overture Workshop (pp. 66-81) https://doi.org/10.48550/arXiv.2208.10233

Tola, D., Madsen, E., Gomes, C., Esterle, L., Schlette, C., Hansen, C. & Larsen, P. G. (2022). Towards Easy Robot System Integration: Challenges and Future Directions. In 2022 IEEE/SICE International Symposium on System Integration (SII) (pp. 77-82). IEEE. https://doi.org/10.1109/SII52469.2022.9708846

Tola, D., Böttjer, T., Larsen, P. G. & Esterle, L. (2022). Towards Modular Digital Twins of Robot Systems. In Proceedings - 2022 IEEE International Conference on Autonomic Computing and Self-Organizing Systems Companion, ACSOS-C 2022 (pp. 95-100). IEEE. https://doi.org/10.1109/ACSOSC56246.2022.00040

Chronopoulos, C., Teizer, J. & Esterle, L. (2022). Trajectory Prediction: A Review of Methods and Challenges in Construction Safety. In J. Teizer & C. P. Leslie Schultz (Eds.), Proceedings of the 29thEG-ICE International Workshop on Intelligent Computing in Engineering (pp. 428-438). European Group for Intelligent Computing in Engineering (EG-ICE). https://doi.org/10.7146/aul.455.c233

Frasheri, M., Esterle, L. & Papadopoulos, A. V. (2021). Cooperative Multi-agent Systems for the Multi-target κ -Coverage Problem. In A. P. Rocha, L. Steels & J. van den Herik (Eds.), Agents and Artificial Intelligence: ICAART 2020 (pp. 106-131). Springer. https://doi.org/10.1007/978-3-030-71158-0_5

Esterle, L., Gomes, C., Frasheri, M., Ejersbo, H., Tomforde, S. & Larsen, P. G. (2021). Digital twins for collaboration and self-integration. In E. El-Araby, V. Kalogeraki, D. Pianini, F. Lassabe, B. Porter, S. Ghahremani, I. Nunes, M. Bakhouya & S. Tomforde (Eds.), Proceedings - 2021 IEEE International Conference on Autonomic Computing and Self-Organizing Systems Companion, ACSOS-C 2021 (pp. 172-177). IEEE. https://doi.org/10.1109/ACSOS-C52956.2021.00040

Strandberg, P. E., Frasheri, M. & Enoiu, E. P. (2021). Ethical AI-Powered Regression Test Selection. In 2021 IEEE International Conference on Artificial Intelligence Testing (AITest) (pp. 83-84). IEEE. https://doi.org/10.1109/AITEST52744.2021.00025

Frasheri, M., Thule, C., Macedo, H. D., Lausdahl, K., Larsen, P. G. & Esterle, L. (2021). Fault Injecting Co-simulations for Safety. 6-13. Paper presented at 5th International Conference on System Reliability and Safety, Palermo, Italy. https://doi.org/10.1109/ICSRS53853.2021.9660728

Esterle, L. & King, D. W. (2021). Loosening Control—A Hybrid Approach to Controlling Heterogeneous Swarms. ACM Transactions on Autonomous and Adaptive Systems, 16(2), Article 5. https://doi.org/10.1145/3502725

Bajovic, D., Bakhtiarnia, A., Bravos, G., Brutti, A., Burkhardt, F., Cauchi, D., Chazapis, A., Cianco, C., Dall'Asen, N., Delic, V., Dimou, C., Djokic, D., Escobar-Molero, A., Esterle, L., Eyben, F., Farella, E., Festi, T., Geromitsos, A., Giakoumakis, G. ... Zammit, J. (2021). MARVEL: Multimodal Extreme Scale Data Analytics for Smart Cities Environments. In 2021 International Balkan Conference on Communications and Networking, BalkanCom 2021 (pp. 143-147). IEEE. https://doi.org/10.1109/BalkanCom53780.2021.9593258

Frasheri, M., Ejersbo, H., Thule, C. & Esterle, L. (2021). RMQFMU: Bridging the Real World with Co-simulation For Practitioners. In H. D. Macedo, C. Thule & K. Pierce (Eds.), Proceedings of the 19th International Overture Workshop (pp. 66-80) https://arxiv.org/pdf/2110.09371.pdf

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Revised 13.11.2025

Lukas Esterle