EARL

scientific project

Embodied Agent-Based cybeR-physical Control Systems Modelling Language - EARL


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. W. Dudek, J. Sikora, D. Seredyński, and T. Winiarski
    DAIMM simulation platform for dual-arm, impedance controlled mobile manipulation simulation (submitted)
    in 25th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR, 2020
    [ | URL ]
  2. J. Karwowski, W. Dudek, M. Węgierek, and T. Winiarski
    HuBeRo – a framework to simulate Human Behaviour in Robot research (submitted)
    in 25th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR, 2020
    [ | URL ]
  3. T. Winiarski, W. Dudek, M. Stefańczyk, Ł. Zieliński, D. Giełdowski, and D. Seredyński
    SoRoF: a multimodal HMI framework to create control systems for social robots (submitted)
    in 25th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR, 2020
    [ | URL ]
  4. 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 ]