Research

The project Finnish UAV Ecosystem is funded by The Academy of Finland (decision numbers 337018, 338055, 337878, 337825, 338080)

Here, we will publish FUAVE-related research results.

FUAVE consortium partners’ drone-related publications list (from 07/2020 onwards):

Tavi, D., Muhojoki, J., Soininen, V., Hyyppä, E., Hakala, T., Luoma, V., Kukko, A., Yu, X., Vastaranta, M., & Hyyppä, J. (2026). Combining single-date mobile and multitemporal airborne laser scanning for retrospective estimation of individual tree growth. Science of Remote Sensing. https://doi.org/10.1016/j.srs.2025.100345
Poorazimy, M., Ronoud, G., Yrttimaa, T., Hyyppä, J., Saarinen, N., Kankare, V., & Vastaranta, M. (2025). An integrated approach combining bi-temporal airborne laser scanning and X-ray microdensitometry in assessing wood properties. Forest Ecology and Management. https://doi.org/10.1016/j.foreco.2025.122497
Haakana, E., Jakobsson, T., Karvonen, H., Pihko, K., & Wasastjerna, S. (2025). Designing a future human–machine interface for operating semi-autonomous drone fleets. Engineering Psychology and Cognitive Ergonomics. https://doi.org/10.1007/978-3-031-93718-7_4
Ha, S., Du, H., Yu, X., Song, J., & Westerlund, T. (2025). Analysis of deep learning‑based colorization and super‑resolution techniques for lidar imagery. WF‑IoT 2025. https://doi.org/10.1109/WF-IoT64238.2025.11270637
Ha, S., Du, H., Yu, X., & Westerlund, T. (2025). Enhancing lidar point cloud sampling via colorization and super‑resolution. ECMR 2025. https://doi.org/10.1109/ECMR65884.2025.11163366
Humayun, M. F., Salmasi, A., Zhang, J., Westerlund, T., & Heikkonen, J. (2025). A robust integrated approach for near real‑time seamless orthomosaic generation using off‑the‑shelf UAVs. ISPRS Annals. https://doi.org/10.5194/isprs-annals-X-2-W2-2025-65-2025
Edelman, H., Harttunen, J., Hästbacka, D., Kauppinen, M., Röning, J., & Stenroos, J. (2025). UAV digital platform for first‑response operations. Developments in the Built Environment. https://doi.org/10.1016/j.dibe.2025.100719
Saffre, F., Karvonen, H., & Hildmann, H., (2025). The why and how of polymorphic artificial autonomous swarms. Drones, 9(1), 53. https://doi.org/10.3390/drones9010053
Nguyen, T. P., Peña Queralta, J., & Westerlund, T. (2024). Simulation analysis of exploration strategies and UAV planning for search and rescue. In *New Developments and Environmental Applications of Drones*. https://doi.org/10.1007/978-3-031-44607-8_5
Catalano, I., Peña Queralta, J., & Westerlund, T. (2024). Evaluating the performance of multi‑scan integration for UAV LiDAR‑based tracking. In *New Developments and Environmental Applications of Drones*. https://doi.org/10.1007/978-3-031-44607-8_6
Saffre, F. Karvonen, H., & Hildmann, H., (2024). Wild swarms: Autonomous drones for environmental monitoring and protection. In *New Developments and Environmental Applications of Drones*. https://doi.org/10.1007/978-3-031-44607-8_1
Westerlund, T., & Peña Queralta, J. (2024). *New Developments and Environmental Applications of Drones*. Springer. https://doi.org/10.1007/978-3-031-44607-8
Edelman, H., Fu, L., Hästbacka, D., Peña Queralta, J., Torrico Moron, P., & Westerlund, T. (2024). Is Alice really in Wonderland? In *New Developments and Environmental Applications of Drones*. https://doi.org/10.1007/978-3-031-44607-8_3
Taipalmaa, J., Raitoharju, J., Peña Queralta, J., Westerlund, T., & Gabbouj, M. (2024). Automatic person‑in‑water detection for marine search and rescue. IEEE Access. https://doi.org/10.1109/ACCESS.2024.3386640
Anttonen, A., Höyhtyä, M., Järvenpää, M., Karvonen, H., & Kramar, V. (2024). Human factors issues of limited connectivity in advanced UAS operations. ICUAS 2024. https://doi.org/10.1109/ICUAS60882.2024.10556965
Yrttimaa, T., Matsuzaki, S., Kankare, V., Junttila, S., Saarinen, N., Kukko, A., Hyyppä, J., Miura, J., & Vastaranta, M. (2024). Assessing forest traversability for autonomous mobile systems using close‑range airborne laser scanning. *Croatian Journal of Forest Engineering*. https://doi.org/10.5552/crojfe.2024.2229
Edelman, H., Hästbacka, D., Oksanen, J., Peña Queralta, J., Röning, J., Stenroos, J., & Westerlund, T. (2023). Analysis of airport design for introducing infrastructure for autonomous drones. *Facilities*. https://doi.org/10.1108/F-11-2022-0146
Heinaro, E., Tanhuanpää, T., Vastaranta, M., Yrttimaa, T., Kukko, A., Hakala, T., Mattsson, T., & Holopainen, M. (2023). Evaluating factors impacting fallen tree detection from airborne laser scanning. *Remote Sensing*. https://doi.org/10.3390/rs15020382
Karvonen, H., Honkavaara, E., Kramar, V., Röning, J., & Sassi, J. (2023). Using a semi‑autonomous drone swarm to support wildfire management. *Engineering Psychology and Cognitive Ergonomics*. https://doi.org/10.1007/978-3-031-35389-5_17
Anttonen, A., Hildmann, H., & Saffre, F. (2023). Force‑based self‑organizing MANET/FANET with a UAV swarm. *Future Internet*. https://doi.org/10.3390/fi15090315
Ha, S., Yu, X., Catalano, I., Peña Queralta, J., Zou, Z., & Westerlund, T. (2023). UAV tracking with lidar as a camera sensor in GNSS‑denied environments. ICL‑GNSS 2023. https://doi.org/10.1109/ICL-GNSS57829.2023.10148919
Catalano, I., Sier, H., Yu, X., Westerlund, T., & Peña Queralta, J. (2023). UAV tracking with solid‑state lidars. ICAR 2023. https://doi.org/10.1109/ICAR58858.2023.10406884
Anttonen, A., Höyhtyä, M., Karvonen, H., Mämmelä, A., & Saffre, F. (2023). Self‑organizing UAV swarm placement. PIMRC 2023. https://doi.org/10.1109/pimrc56721.2023.10294055
Tiusanen, R., Heikkilä, E., Välisalo, T., & Öz, E. (2023). Identification of Emerging Safety and Security Risks in Drone Operations at Work Sites. In 16th WCEAM Proceedings (pp. 499-507). Cham: Springer International Publishing.
Kangasoja, J., Paajanen, K. & Hinkula, H. (2023). Drooni säästää ympäristöä korvatessaan auton, Ilmailu-lehti, Suomen Ilmailuliitto.
Kanerva, H.; Honkavaara, E.; Näsi, R.; Hakala, T.; Junttila, S.; Karila, K.; Koivumäki, N.; Alves Oliveira, R.; Pelto-Arvo, M.; Pölönen, I.; Tuviala, J.; Östersund, M.; Lyytikäinen-Saarenmaa, P. Estimating Tree Health Decline Caused by Ips typographus L. from UAS RGB Images Using a Deep One-Stage Object Detection Neural Network. Remote Sens. 2022, 14, 6257. https://doi.org/10.3390/rs14246257
George, A.; Koivumäki, N.; Hakala, T.; Suomalainen, J.; Honkavaara, E. Visual-Inertial Odometry Using High Flying Altitude Drone Datasets. Drones 2023, 7, 36. https://doi.org/10.3390/drones7010036
Saffre, F., Hildmann, H., Karvonen, H. & Lind, T. (2022). Monitoring and Cordoning Wildfires with an Autonomous Swarm of Unmanned Aerial Vehicles. Drones, 6(10), 301.
Öz, E., Heikkilä, E., & Tiusanen, R. (2022). Development of an Organisational Certification Process for Specific Category Drone Operations. Drones, 6(10), 278.
Alves Oliveira, R.; Marcato Junior, J.; Soares Costa, C.; Näsi, R.; Koivumäki, N.; Niemeläinen, O.; Kaivosoja, J.; Nyholm, L.; Pistori, H.; Honkavaara, E. Silage Grass Sward Nitrogen Concentration and Dry Matter Yield Estimation Using Deep Regression and RGB Images Captured by UAV. Agronomy 2022, 12, 1352. https://doi.org/10.3390/agronomy12061352
Santos, L.D., Tommaselli, A.M.G., Berveglieri, A., Imai, N.N., Oliveira, R.A., Honkavaara, E., Geometric calibration of a hyperspectral frame camera with simultaneous determination of sensors misalignment, ISPRS Open Journal of Photogrammetry and Remote Sensing 2022, https://doi.org/10.1016/j.ophoto.2022.100015.
Liang, X., Kukko, A., Balenovic, I., Saarinen, N., Junttila, S., Kankare, V., Holopainen, M., Mokroš, M., Surový, P., Kaartinen, H., Honkavaara, E., Näsi, R., Hollaus, M., Tian, J., Yu, X., Pan, J., Cai, S., Virtanen, J.-P., Wang, Y., Hyyppä, J. Close-Range Remote Sensing of Forests – The state of the art, challenges, and opportunities for systems and data acquisitions. IEEE Geoscience and Remote Sensing Magazine (GRSM) 2022. IEEE – Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/MGRS.2022.3168135.
Karila, K.; Alves Oliveira, R.; Ek, J.; Kaivosoja, J.; Koivumäki, N.; Korhonen, P.; Niemeläinen, O.; Nyholm, L.; Näsi, R.; Pölönen, I.; Honkavaara, E. Estimating Grass Sward Quality and Quantity Parameters Using Drone Remote Sensing with Deep Neural Networks. Remote Sens. 2022, 14, 2692. https://doi.org/10.3390/rs14112692
J. Laarni, Väätänen, A., Karvonen, H., Lastusilta T., & Saﬀre, F. (2022). Development of a Concept of Operations for a Counter-Swarm Scenario. In International Conference on Human-Computer Interaction (pp. 49-63). Springer, Cham.
Kramar, V. Paajanen, K., Ratia, K., Honkavaara, E., Röning, J., Hänninen, T., Oravasaari T. & Karvonen, H. (2022), FUAVE: Supporting the Finnish Unmanned Aviation Knowledge Base & Business, The Professional Drone Operations Market, Edition 2.1. p. 42-44.
Kangasoja, J., Paajanen, K. & Hinkula, H. (2022). Droonien lennättäminen on pääsääntöisesti luvanvaraista toimintaa, Oamk Journal 73/2022.
Kangasoja, J., Paajanen, K. & Hinkula, H. (2022). Iso drooni kuljettaa satoja kiloja, Ilmailu, 85(4), 14-16.
Junttila, S.; Näsi, R.; Koivumäki, N.; Imangholiloo, M.; Saarinen, N.; Raisio, J.; Holopainen, M.; Hyyppä, H.; Hyyppä, J.; Lyytikäinen-Saarenmaa, P.; Vastaranta, M.; Honkavaara, E. Multispectral Imagery Provides Benefits for Mapping Spruce Tree Decline Due to Bark Beetle Infestation When Acquired Late in the Season. Remote Sens. 2022, 14, 909. https://doi.org/10.3390/rs14040909
Nex, F., Armenakis, C., Cramer, M., Cucci, D.A., Gerke, M., Honkavaara, E., Kukko, A., Persello, C., Skaloud, J. (2022). UAV in the advent of the twenties: Where we stand and what is next, ISPRS Journal of Photogrammetry and Remote Sensing, Vol. 184, 2022, pp. 215-242. https://doi.org/10.1016/j.isprsjprs.2021.12.006.
Prieto, R., Lehmuskoski, J., Karlsson, T., Koski, P., Ihonen, J. Lundqvist, R., Gising, A., Martinsen, A. (2021). Special UAV requirements for Nordic conditions. Nordic Drone Initiative White Paper. VTT-M-01038-21. Zenodo. https://doi.org/10.5281/zenodo.6077534
Kramar, V., Röning, J., Erkkilä, J., Hinkula, H., Kolli, T., Rauhala, A.: ‘Unmanned Aircraft Systems and the Nordic Challenges’, in New Developments and Environmental Applications of Drones – Proceedings of FinDrones 2020 | Tarmo Lipping et al. | Springer, 2021, pp. 1–30. https://doi.org/10.1007/978-3-030-77860-6.
P. Wijesiri N.B.A, J. Haapola and T. Samarasinghe, “The Effect of Concurrent Multi-priority Data Streams on the MAC Layer Performance of IEEE 802.11p and C-V2X Mode 4,” in IEEE Transactions on Communications, doi: 10.1109/TCOMM.2021.3119703.
Saﬀre, F., Hildmann, H., Karvonen, H. & Lind, T. (2022). Self-swarming for Multi-Robot Systems deployed for Situational Awareness. In Lipping, T.; Linna, P. & Narra, N.: New Developments and Environmental Applications of Drones (pp. 51-72). Springer, Cham. ISBN 978-3-030-77859-0.
Suomalainen, J., Oliveira, R.A., Hakala, T., Koivumäki, N., Markelin, L., Näsi, R. & Honkavaara, E. (2021). Direct reflectance transformation methodology for drone-based hyperspectral imaging. Remote Sensing of Environment, Vol. 266, 2021, 112691, https://doi.org/10.1016/j.rse.2021.112691
Saﬀre, F., Hildmann, H., Karvonen, H. (2021). The Design Challenges of Drone Swarm Control. In International Conference on Human-Computer Interaction (pp. 408-426). Springer, Cham.
Regmi, A., Hänninen, T., Leinonen, M.E., Pärssinen, A. & Berg, M. (2021). Dynamic Dual Polarized GNSS Reﬂectometry Using UAV. 15th European Conference on Antennas and Propagation, EuCAP 2021, Düsseldorf, Germany, 2021
Wijesiri, G.P. Haapola, J. & Samarasinghe, T. (2020). A Discrete-Time Markov Chain Based Comparison of the MAC Layer Performance of C-V2X Mode 4 and IEEE 802.11p. In IEEE Transactions on Communications, doi: 10.1109/TCOMM.2020.3044340.
Wijesiri G.P., Haapola, J. & Samarasinghe, T. (2020). The Effect of Multiple Access Categories on the MAC Layer Performance of IEEE 802.11p. IEEE Global Communications Conference (GLOBECOM) 2020, Taipei, Taiwan, December 7 – 11, 2020.
Kaivosoja, J., Hautsalo, J., Heikkinen, J., Hiltunen, L., Ruuttunen, P., Näsi, R., Niemeläinen, O., Lemsalu, M., Honkavaara, E. & Salonen, J. (2021). Reference Measurements in Developing UAV Systems for Detecting Pests, Weeds, and Diseases. Remote Sens. 2021, 13, 1238. https://doi.org/10.3390/rs13071238
Khoramshahi, E., Oliveira, R.A., Koivumäki, N. & Honkavaara, E. (2020) An Image-Based Real-Time Georeferencing Scheme for a UAV Based on a New Angular Parametrization. Remote Sens. 2020, 12, 3185. https://doi.org/10.3390/rs12193185
Hildmann, H., Eledlebi, K., Saffre, F., & Isakovic, A. F. (2021). The Swarm Is More Than the Sum of Its Drones. Development and Future of Internet of Drones (IoD): Insights, Trends and Road Ahead, Chapter 1, pp. 1-55.
George, A. (2021). Analysis of Visual-Inertial Odometry Algorithms for Outdoor Drone Applications. Aalto University.
Autioniemi, E., Tyni, J., Mäläskä, T. & Posio, M. (2020). Droonilla hankitun kuvamateriaalin käyttäminen pelin ympäristön luomiseen. ePOOKI ISNN 1798-2022.