scientific project

Embodied Agent-Based cybeR-physical Control Systems Modelling Language

Start: January 2020
Principal Investigator: Tomasz Winiarski,
Researchers: Konrad Banachowicz, Wojciech Dudek, Dawid Seredyński, Maciej Węgierek, Cezary Zieliński,

EARL follows a Model-Driven Software Development approach (MDSD), which facilitates cyberphysical control system development. It is based on a mathematical method of robot controller specification, employing the concept of an Embodied Agent, and a graphical modelling language: System Modelling Language (SysML). It combines the ease of use of SysML with the precision of mathematical specification of certain aspects of the designed system. It makes the whole system specification effective, from the point of view of the time needed to create it, conciseness of the specification and the possibility of its analysis. By using EARL it is possible to specify systems both with fixed and variable structure. This was achieved by introducing a generalised system model and presenting particular structures of the system in terms of modelling block configurations adapted by using instances. FABRIC framework was created to support the implementation of EARL-based robot controllers. EARL is compatible with component based robotic middlewares (e.g., ROS and Orocos).

If you are to use EARL, in your papers, please at first cite the Electronics journal article: EARL - Embodied Agent-Based Robot Control Systems Modelling Language. EARL is constantly developed, so you can base on the current documentation and additionally refer to the particular version of the EARL listed below.

List of selected publications:
  1. T. Winiarski, S. Jarocki, and D. Seredyński
    Grasped Object Weight Compensation in Reference to Impedance Controlled Robots
    Energies, vol. 14, no. 20, p. 6693, 2021
    [ | DOI | | URL ]
  2. J. Karwowski, W. Dudek, M. Węgierek, and T. Winiarski
    HuBeRo-a Framework to Simulate Human Behaviour in Robot Research
    Journal of Automation, Mobile Robotics and Intelligent Systems, vol. 15, no. 1, pp. 31–38, 2021
    [ | DOI | ]
  3. D. Giełdowski
    Struktura i implementacja systemu robotycznego zawierającego robota MiniRyś
    Master’s thesis, IAiIS, 2021
    Tutor: Tomasz Winiarski
    [ | URL ]
  4. S. Jarocki
    Rozszerzenie prawa sterowania robota usługowego Velma w odniesieniu do manipulacji obiektami
    Master’s thesis, IAiIS, 2020
    Tutor: Tomasz Winiarski
    [ | URL ]
  5. T. Winiarski, M. Węgierek, D. Seredyński, W. Dudek, K. Banachowicz, and C. Zieliński
    EARL – Embodied Agent-Based Robot Control Systems Modelling Language
    Electronics, vol. 9, no. 2-379, 2020
    [ | DOI | | URL ]
  6. T. Winiarski, W. Dudek, M. Stefańczyk, Ł. Zieliński, D. Giełdowski, and D. Seredyński
    An intent-based approach for creating assistive robots’ control systems
    arXiv:2005.12106, 2020
    [ | DOI | ]