Publications

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

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

Vejdanparast, A., Lewis, P. R. & Esterle, L. (2018). Online zoom selection approaches for coverage redundancy in visual sensor networks. -. https://doi.org/10.1145/3243394.3243697

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. I P. Masci, C. Bernardeschi, P. Graziani, M. Koddenbrock & M. Palmieri (red.), Software Engineering and Formal Methods. SEFM 2022 Collocated Workshops: International Conference on Software Engineering and Formal Methods (s. 200-209). Springer. https://doi.org/10.1007/978-3-031-26236-4_18

Tola, D., Gonçalves Gomes, C. Â., Schultz, C. P. L., Schlette, C., Hansen, C. & Esterle, L. (2021). RoboCIM: Towards a Domain Model for Industrial Robot System Configurators. I A. Soylu, A. T. Nezhad, N. Nikolov, I. Toma, A. Fensel & J. Vennekens (red.), Proceedings of the 15th International Rule Challenge, 7th Industry Track, and 5th Doctoral Consortium @ RuleML+RR 2021 co-located with 17th Reasoning Web Summer School (RW 2021) and 13th DecisionCAMP 2021 as part of Declarative AI 2021 CEUR-WS.org. http://ceur-ws.org/Vol-2956/paper12.pdf

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. I 2022 IEEE/SICE International Symposium on System Integration (SII) (s. 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. I Proceedings - 2022 IEEE International Conference on Autonomic Computing and Self-Organizing Systems Companion, ACSOS-C 2022 (s. 95-100). IEEE. https://doi.org/10.1109/ACSOSC56246.2022.00040

Tola, D., Gomes, C., Schultz, C., Schlette, C., Hansen, C. & Esterle, L. (2021). RoboCIM: Towards a domain model for industrial robot system configurators. CEUR Workshop Proceedings, 2956.

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. I A. Cavalcanti, S. Foster & R. Richardson (red.), Towards Autonomous Robotic Systems (s. 295-309). Springer. https://doi.org/10.1007/978-3-032-01486-3_24

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

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

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

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. Artikel 4. https://doi.org/10.1145/3547145

Papadopoulos, A. V. & Esterle, L. (2020). Situational Trust in Self-aware Collaborating Systems. I 2020 IEEE International Conference on Autonomic Computing and Self-Organizing Systems Companion (ACSOS-C) (s. 91-94). IEEE. https://doi.org/10.1109/ACSOS-C51401.2020.00037

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. I J. Fitzgerald, C. Gomes & P. G. Larsen (red.), The Engineering of Digital Twins (s. 257-310). Springer. https://doi.org/10.1007/978-3-031-66719-0_12

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

Miloradovic, B., Frasheri, M., Çürüklü, B., Ekström, M. & Papadopoulos, A. V. (2019). TAMER: Task Allocation in Multi-robot Systems Through an Entity-Relationship Model. I M. Baldoni, M. Dastani, B. Liao, Y. Sakurai & R. Zalila Wenkstern (red.), PRIMA 2019: Principles and Practice of Multi-Agent Systems - 22nd International Conference, Proceedings (s. 478-486). Springer. https://doi.org/10.1007/978-3-030-33792-6

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

Lumer-Klabbers, G., Hausted, J. O., Kvistgaard, J. L., Macedo, H. D., Frasheri, M. & Larsen, P. G. (2021). Towards a digital twin framework for autonomous robots. I W. K. Chan, B. Claycomb, H. Takakura, J.-J. Yang, Y. Teranishi, D. Towey, S. Segura, H. Shahriar, S. Reisman & S. I. Ahamed (red.), 2021 IEEE 45th Annual Computers, Software, and Applications Conference (COMPSAC) (s. 1254-1259). IEEE. https://doi.org/10.1109/COMPSAC51774.2021.00174

Lukina, A., Tiwari, A., Smolka, S. A., Esterle, L., Yang, J. & Grosu, R. (2018). Resilient control and safety for cyber-physical systems. -, 16-17. https://doi.org/10.1109/MT-CPS.2018.00015

Larsen, P. G., Macedo, H. D., Gonçalves Gomes, C. Â., Esterle, L., Thule, C., Fitzgerald, J. & Pierce, K. (2020). Collaborative Modelling and Co-simulation in Engineering and Computing Curricula. I J.-M. Bruel, A. Capozucca, M. Mazzara, B. Meyer, A. Naumchev & A. Sadovykh (red.), Frontiers in Software Engineering Education - 1st International Workshop, FISEE 2019, Invited Papers: FISEE 2019 (s. 196-213). Springer. https://doi.org/10.1007/978-3-030-57663-9_13

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. I J. Fitzgerald, C. Gomes & P. G. Larsen (red.), The Engineering of Digital Twins (s. 363-386). Springer. https://doi.org/10.1007/978-3-031-66719-0_15

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

King, D. W., Esterle, L. & Peterson, G. L. (2019). Entropy-Based Team Self-Organization with Signal Suppression. I H. Fellermann, J. Bacardit, Á. Goñi Moreno & R. Füchslin (red.), ALIFE 2019: The 2019 Conference on Artificial Life (Bind 31, s. 145-152). MIT Press. https://doi.org/10.1162/isal_a_00154

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. I Proceedings of the IASS 2022 Symposium affiliated with APCS 2022 conference: Innovation - Sustainability - Legacy (s. 1740-1748)

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

Hallerstede, S., Larsen, P. G., Boudjadar, J., Schultz, C. P. L. & Esterle, L. (2020). On the Design of a New Software Engineering Curriculum in Computer Engineering. I J.-M. Bruel, A. Capozucca, M. Mazzara, B. Meyer, A. Naumchev & A. Sadovykh (red.), Frontiers in Software Engineering Education: FISEE 2019 (s. 178-195). Springer. https://doi.org/10.1007/978-3-030-57663-9_12, https://doi.org/10.1007%2F978-3-030-57663-9

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

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

Frasheri, M., Esterle, L. & Papadopoulos, A. V. (2020). Modeling the willingness to interact in cooperative multi-robot systems. I A. Rocha, L. Steels & J. van den Herik (red.), ICAART 2020 - Proceedings of the 12th International Conference on Agents and Artificial Intelligence (s. 62-72). SCITEPRESS Digital Library. https://doi.org/10.5220/0008951900620072

Frasheri, M., Cano-Garcia, J., Gonzalez-Parada, E., Çürüklü, B., Ekström, M., Papadopoulos, A. & Urdiales, C. (2020). Adaptive Autonomy in Wireless Sensor Networks. I Proceedings of the 19th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2020 (s. 375-383) http://www.es.mdh.se/publications/5742-Adaptive_Autonomy_in_Wireless_Sensor_Networks

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

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

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

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), Artikel 61. https://doi.org/10.1007/s11948-022-00414-0

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, Artikel 104347. https://doi.org/10.1016/j.robot.2022.104347

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

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

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

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. I Proceedings - 2025 IEEE International Conference on Pervasive Computing and Communications Workshops and other Affiliated Events, PerCom Workshops 2025 (2025 udg., s. 128-133). IEEE. https://doi.org/10.1109/PerComWorkshops65533.2025.00053

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. I 2023 27th International Conference on Methods and Models in Automation and Robotics, MMAR 2023 - Proceedings (s. 63-68). IEEE. https://doi.org/10.1109/MMAR58394.2023.10242467

Esterle, L. (2019). Goal-aware team affiliation in collectives of autonomous robots. International Conference on Self-Adaptive and Self-Organizing Systems, SASO, 90-99. https://doi.org/10.1109/SASO.2018.00020

Esterle, L. & Brown, J. N. A. (2019). Levels of networked self-awareness. -, 237-238. https://doi.org/10.1109/FAS-W.2018.00054

Esterle, L. (2018). CHAINMAIL: Distributed coordination for multi-task κ-Assignment using autonomous mobile IoT devices. -, 85-92. https://doi.org/10.1109/DCOSS.2018.00019

Esterle, L. & Rinner, B. (2018). An Architecture for Self -Aware IOT Applications. ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings, 6588-6592. https://doi.org/10.1109/ICASSP.2018.8462005

Esterle, L. & Lewis, P. R. (2020). Distributed autonomy and trade-offs in online multiobject k-coverage. Computational Intelligence, 36(2), 720-742. https://doi.org/10.1111/coin.12264

Esterle, L. & Brown, J. N. A. (2020). The Competence Awareness Window: Knowing what i can and cannot do. I E. El-Araby, S. Tomforde, T. Wood, P. Kumar, C. Raibulet, I. Petri, G. Valentini, P. Nelson & B. Porter (red.), 2020 IEEE International Conference on Autonomic Computing and Self-Organizing Systems Companion (ACSOS-C) (s. 62-63). IEEE. https://doi.org/10.1109/ACSOS-C51401.2020.00031

Esterle, L. & Brown, J. N. A. (2020). I Think Therefore You Are: Models for Interaction in Collectives of Self-aware Cyber-physical Systems. ACM Transactions on Cyber-Physical Systems, 4(4), Artikel 39. https://doi.org/10.1145/3375403

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

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Lukas Esterle