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2026

W. Dudek, D. Giełdowski, K. Młodzikowski, D. Belter, and T. Winiarski
TaBSA – A framework for training and benchmarking algorithms for scheduling tasks for mobile robots working in dynamic environments
SoftwareX, p. 102489, 2026
[ BIB | DOI | abstract ]
```
@article{tabsa-26-twiki,
  author = {Dudek, Wojciech and Giełdowski, Daniel and Młodzikowski, Kamil and Belter, Dominik and Winiarski, Tomasz},
  title = {TaBSA – A framework for training and benchmarking algorithms for scheduling tasks for mobile robots working in dynamic environments},
  journal = {SoftwareX},
  pages = {102489},
  year = {2026},
  issn = {2352-7110},
  keywords = {Robot scheduling algorithms, Benchmarking tools, Dynamic environments, Reinforcement learning},
  doi = {10.1016/j.softx.2025.102489},
  projects = {SMIT},
  twiki = {article}
}
```
This article introduces a software framework for benchmarking robot task scheduling algorithms in dynamic and uncertain service environments. The system provides standardised interfaces, configurable scenarios with movable objects, human agents, tools for automated test generation, and performance evaluation. It supports both classical and AI-based methods, enabling repeatable, comparable assessments across diverse tasks and configurations. The framework facilitates diagnosis of algorithm behaviour, identification of implementation flaws, and selection or tuning of strategies for specific applications. It includes a SysML-based domain-specific language for structured scenario modelling and integrates with the ROS-based system for runtime execution. Validated on patrol, fall assistance, and pick-and-place tasks, the open-source framework is suited for researchers and integrators developing and testing scheduling algorithms under real-world-inspired conditions.
M. Krawczyk, K. Fidyt, N. Fernandez-Fuentes, T. Winiarski, M. Pepek, P. Bousquets-Muñoz, X. S. Puente, A. Gutiérrez-Fernández, J. Davis, D. Owczarek, and others
Tisa-cel and axi-cel CAR structure influences the development of resistance to CD19-CAR-T therapy
Leukemia, pp. 1–15, 2026
[ BIB | DOI | abstract ]
```
@article{krawczyk2026tisa-twiki,
  title = {Tisa-cel and axi-cel CAR structure influences the development of resistance to CD19-CAR-T therapy},
  author = {Krawczyk, Marta and Fidyt, Klaudyna and Fernandez-Fuentes, Narcis and Winiarski, Tomasz and Pepek, Monika and Bousquets-Mu{\~n}oz, Pablo and Puente, Xose S and Guti{\'e}rrez-Fern{\'a}ndez, Ana and Davis, Jacinta and Owczarek, Daria and others},
  journal = {Leukemia},
  pages = {1--15},
  year = {2026},
  publisher = {Nature Publishing Group UK London},
  doi = {10.1038/s41375-026-03081-3},
  twiki = {article}
}
```
CD19-CAR-T cells are a major therapy for relapsed/refractory B-cell malignancies, yet 50% of patients relapse after infusion. Clinical data suggest that tisa-cel treatment is associated with higher rates of CD19 mutation than axi-cel, though direct comparisons have been lacking. Although both products target the FMC63 epitope, they employ different structures of hinge/transmembrane/costimulatory domains (CD8α/CD8α/4-1BB in tisa-cel, CD28/CD28/CD28 in axi-cel). Here, we show that CAR structure is a critical determinant of CD19 loss in tumor B cells. Specifically, repeated exposure to CD19–4-1BB-based CAR-T cells, but not CD19–CD28-based counterparts, drives FMC63-epitope and total CD19 protein loss. Consistent with clinical observations, resistance to CD19–4-1BB-based treatment is associated with aberrant splicing, loss of heterozygosity, and frameshift/missense mutations in CD19 in exons encoding the FMC63 epitope. Mathematical modeling indicates that the failure of CD19–4-1BB-based CAR-T cells to eliminate CD19low cells, unlike CD28-based CARs, promotes the expansion of resistant populations. These results suggest that optimizing recognition of CD19low cells could prevent the emergence of resistant clones and reduce relapse rates. We also show that commonly used diagnostic anti-CD19 monoclonal antibodies detect epitopes distinct from FMC63 and may therefore give misleading CD19-positive results, underscoring the need for FMC63-specific assessment to guide diagnostic and therapeutic decisions.

2025

T. Winiarski, D. Giełdowski, K. Giełdowski, M. Tulik, M. Kobylecka, and J. Kunikowska

Concepts for the use of assistive robots and artificial intelligence in a nuclear medicine facility

Clinical and Translational Imaging, vol. 13, no. 5, pp. 457–466, 2025

[ BIB | DOI ]

@article{RicoZmnWut2025-twiki,
  author = {Winiarski, Tomasz and Giełdowski, Daniel and Giełdowski, Konrad and Tulik, Monika and Kobylecka, Małgorzata and Kunikowska, Jolanta},
  journal = {Clinical and Translational Imaging},
  title = {Concepts for the use of assistive robots and artificial intelligence in a nuclear medicine facility},
  publisher = {Springer},
  year = {2025},
  volume = {13},
  number = {5},
  pages = {457--466},
  projects = {EksRicoZMN},
  doi = {10.1007/s40336-025-00718-8},
  twiki = {article}
}

T. Winiarski, J. Kaniuka, D. Giełdowski, J. Ostrysz, K. Radlak, and D. Kushnir
ROS-related Robotic Systems Development with V-model-based Application of MeROS Metamodel
arXiv:2506.08706, 2025
[ BIB | DOI | abstract ]
```
@article{winiarski2025-v-model-twiki,
  title = {{ROS-related Robotic Systems Development with V-model-based Application of MeROS Metamodel}},
  author = {Winiarski, Tomasz and Kaniuka, Jan and Giełdowski, Daniel and Ostrysz, Jakub and Radlak, Krystian and Kushnir, Dmytro},
  year = {2025},
  journal = {arXiv:2506.08706},
  doi = {10.48550/arXiv.2506.08706},
  robots = {minirys, magician},
  twiki = {preprint}
}
```
As robotic systems grow increasingly complex, heterogeneous, and safety-critical, the need for structured development methodologies becomes paramount. Although frameworks like the Robot Operating System (ROS) and Model-Based Systems Engineering (MBSE) offer foundational tools, they often lack integration when used together. This paper addresses that gap by aligning the widely recognized V-model development paradigm with the MeROS metamodel SysML-based modeling language tailored for ROS-based systems. We propose a domain-specific methodology that bridges ROS-centric modelling with systems engineering practices. Our approach formalises the structure, behaviour, and validation processes of robotic systems using MeROS, while extending it with a generalized, adaptable V-model compatible with both ROS and ROS 2. Rather than prescribing a fixed procedure, the approach supports project-specific flexibility and reuse, offering guidance across all stages of development. The approach is validated through a comprehensive case study on HeROS, a heterogeneous multi-robot platform comprising manipulators, mobile units, and dynamic test environments. This example illustrates how the MeROS-compatible V-model enhances traceability and system consistency while remaining accessible and extensible for future adaptation. The work contributes a structured, tool-agnostic foundation for developers and researchers seeking to apply MBSE practices in ROS-based projects.
W. Dudek, N. Miguel, and T. Winiarski
A SysML-based language for evaluating the integrity of simulation and physical embodiments of Cyber–Physical systems
Robotics and Autonomous Systems, vol. 185, p. 104884, 2025
[ BIB | DOI | abstract ]
```
@article{dudek2025spsysml-twiki,
  author = {Dudek, Wojciech and Miguel, Narcis and Winiarski, Tomasz},
  journal = {Robotics and Autonomous Systems},
  title = {A SysML-based language for evaluating the integrity of simulation and physical embodiments of Cyber–Physical systems},
  year = {2025},
  issn = {0921-8890},
  pages = {104884},
  volume = {185},
  doi = {10.1016/j.robot.2024.104884},
  keywords = {Design analysis and evaluation, Digital twins, System architecture, Model-based evaluation, Domain-specification language, Multi-agent systems, Robotics},
  projects = {SMIT},
  twiki = {article}
}
```
Evaluating early design concepts is crucial as it impacts quality and cost. This process is often hindered by vague and uncertain design information. This article introduces the SysML-based Simulated–Physical Systems Modelling Language (SPSysML). It is a Domain-Specification Language for evaluating component reusability in Cyber–Physical Systems incorporating Digital Twins and other simulated parts. The proposed factors assess the design quantitatively. SPSysML uses a requirement-based system structuring method to couple simulated and physical parts with requirements. SPSysML-based systems incorporate DTs that perceive exogenous actions in the simulated world. SPSysML validation is survey- and application-based. First, we develop a robotic system for an assisted living project. We propose an SPSysML application procedure called SPSysAP that manages the considered system development by evaluating the system designs with the proposed quantitative factors. As a result of the SPSysML application, we observed an integrity improvement between the simulated and physical parts of the system. Thus, more system components are shared between the simulated and physical setups. The system was deployed on the physical robot and two simulators based on ROS and ROS2. Additionally, we share a questionnaire for SPSysML assessment. The feedback that we already received is published in this article.

C. Zieliński, J. Arabas, D. Belter, W. Kasprzak, Z. Kowalczuk, M. Ławryńczuk, M. Malinowski, A. Mazur, W. Mazurczyk, E. Niewiadomska-Szynkiewicz, D. Pazderski, P. Skrzypczyński, M. Sochacki, J. Szmidt, P. Szynkarczyk, W. Szynkiewicz, J. Wrona, and T. Zielińska

Autonomy of Battlefield and Special Purpose Robots (in Polish: Autonomia robotów pola walki i robotów specjalnego przeznaczenia)

Sieć Badawcza Łukasiewicz –- Przemysłowy Instytut Automatyki i Pomiarów –- PIAP, Wydawnictwo Naukowe Łukasiewicz –- Instytut Technologii Eksploatacji, 2025

[ BIB ]

@book{BojoweRoboty:2025,
  title = {Autonomy of Battlefield and Special Purpose Robots (in Polish: Autonomia robotów pola walki i robotów specjalnego przeznaczenia)},
  publisher = {Sieć Badawcza Łukasiewicz –- Przemysłowy Instytut Automatyki i Pomiarów –- PIAP, Wydawnictwo Naukowe Łukasiewicz –- Instytut Technologii Eksploatacji},
  year = {2025},
  author = {Zieliński, C. and Arabas, J. and Belter, D. and Kasprzak, W. and Kowalczuk, Z. and Ławryńczuk, M. and Malinowski, M. and Mazur, A. and Mazurczyk, W. and Niewiadomska-Szynkiewicz, E. and Pazderski, D. and Skrzypczyński, P. and Sochacki, M. and Szmidt, J. and Szynkarczyk, P. and Szynkiewicz, W. and Wrona, J. and Zielińska, T.},
  note = {Zielinski}
}

C. Zieliński

Interruption of robot activities (in Polish: Organizacja przerywania działań robotów)

in Advancements in Robotics. 17-th National Conference on Robotics, Trzebieszowice, 10 – 12 September 2025 (Postępy Robotyki. XVII Krajowa Konferencja Robotyki), 2025, pp. 85–94

[ BIB ]

@inproceedings{zielinskiKKR:2025,
  title = {Interruption of robot activities (in Polish: Organizacja przerywania działań robotów)},
  author = {Zieliński, Cezary},
  booktitle = {Advancements in Robotics. 17-th National Conference on Robotics, Trzebieszowice, 10 -- 12 September 2025 (Postępy Robotyki. XVII Krajowa Konferencja Robotyki)},
  publisher = {Oficyna Wydawnicza Politechniki Wrocławskiej},
  editor = {Mazur, A. and Zieliński, C.},
  pages = {85--94},
  year = {2025}
}

Z. Kowalczuk and C. Zieliński

Ethical and Legal Aspects of Using Combat Robots

in 12-th IFAC Symposium on Intelligent Autonomous Vehicles, IAV’2025, May 7–9, 2025, Phoenix, Arizona, USA, 2025, pp. 145–150

[ BIB | DOI ]

@inproceedings{zielinskiKowalczuk:2025,
  title = {Ethical and Legal Aspects of Using Combat Robots},
  author = {Kowalczuk, Z. and Zieliński, C.},
  booktitle = {12-th IFAC Symposium on Intelligent Autonomous Vehicles, IAV'2025, May 7--9, 2025, Phoenix, Arizona, USA},
  editor = {Wang, Yue},
  publisher = {ScienceDirect},
  pages = {145--150},
  year = {2025},
  doi = {10.1016/j.ifacol.2025.07.025}
}

P. Szynkarczyk, J. Wrona, and C. Zieliński

Development of Land Robots in Łukasiewicz–PIAP, in Polish: Rozwój robotów lądowych w Łukasiewicz–PIAP

Pomiary Automatyka Robotyka, vol. 29, no. 258, pp. 5–13, Apr. 2025

[ BIB | DOI | URL ]

@article{zielinski-piap-par:2025,
  author = {Szynkarczyk, Piotr and Wrona, Józef and Zieliński, Cezary},
  title = {Development of Land Robots in Łukasiewicz–PIAP, in Polish: Rozwój robotów lądowych w Łukasiewicz–PIAP},
  year = {2025},
  journal = {Pomiary Automatyka Robotyka},
  month = apr,
  doi = {10.14313/PAR_258/5},
  volume = {29},
  number = {258},
  pages = {5--13},
  keywords = {robot bojowy, robot dla służb specjalnych, robot lądowy},
  url = {https://www.par.pl/Archiwum/2025/4-2025/Rozwoj-robotow-ladowych-w-Lukasiewicz-PIAP}
}

P. Szynkarczyk, J. Wrona, and C. Zieliński

Development of Land Robots in Łukasiewicz–PIAP, in Polish: Rozwój robotów lądowych w Łukasiewicz–PIAP

Pomiary Automatyka Robotyka, vol. 29, no. 258, pp. 5–13, Apr. 2025

[ BIB | DOI | URL ]

@article{zielinski-piap-par:2026,
  author = {Szynkarczyk, Piotr and Wrona, Józef and Zieliński, Cezary},
  title = {Development of Land Robots in Łukasiewicz–PIAP, in Polish: Rozwój robotów lądowych w Łukasiewicz–PIAP},
  year = {2025},
  journal = {Pomiary Automatyka Robotyka},
  month = apr,
  doi = {10.14313/PAR\_258/5},
  volume = {29},
  number = {258},
  pages = {5--13},
  keywords = {robot bojowy, robot dla służb specjalnych, robot lądowy},
  url = {https://www.par.pl/Archiwum/2025/4-2025/Rozwoj-robotow-ladowych-w-Lukasiewicz-PIAP}
}

2024

T. Winiarski, J. Kaniuka, and J. Ostrysz

Metodyka projektowania systemów robotycznych w oparciu o metamodele EARL i MeROS

Pomiary Automatyka Robotyka, vol. 28, no. 2, pp. 11–20, 2024

[ BIB | DOI ]

@article{winiarski2024metodyka-twiki,
  title = {Metodyka projektowania systemów robotycznych w oparciu o metamodele EARL i MeROS},
  author = {Winiarski, Tomasz and Kaniuka, Jan and Ostrysz, Jakub},
  journal = {Pomiary Automatyka Robotyka},
  doi = {10.14313/PAR_252/11},
  volume = {28},
  number = {2},
  pages = {11--20},
  projects = {bionik2022},
  twiki = {journal},
  robots = {minirys,magician},
  year = {2024}
}

T. Winiarski, D. Giełdowski, J. Kaniuka, J. Ostrysz, and J. Sadowski
HeROS: a miniaturised platform for research and development on Heterogeneous RObotic Systems
arXiv:2403.04384, 2024
[ BIB | DOI | abstract ]
```
@article{HeROS-arxiv-24-twiki,
  author = {Winiarski, Tomasz and Giełdowski, Daniel and Kaniuka, Jan and Ostrysz, Jakub and Sadowski, Jakub},
  journal = {arXiv:2403.04384},
  title = {HeROS: a miniaturised platform for research and development on Heterogeneous RObotic Systems},
  year = {2024},
  doi = {10.48550/arXiv.2403.04384},
  projects = {HeROS},
  twiki = {preprint},
  robots = {minirys, magician}
}
```
Tests and prototyping are vital in the research and development of robotic systems. Work with target hardware is problematic. Hence, in the article, a low-cost, miniaturised physical platform is presented to deal with experiments on heterogeneous robotic systems. The platform comprises a physical board with tiles of the standardised base, diverse mobile robots, and manipulation robots. The number of exemplary applications validates the usefulness of the solution.
T. Winiarski, W. Dudek, and D. Giełdowski
Rico: extended TIAGo robot towards up-to-date social and assistive robot usage scenarios
in Progress in Polish Artificial Intelligence Research, 2024, no. 5, pp. 287–294
[ BIB | DOI | abstract ]
```
@inproceedings{rico-pprai-24-twiki,
  author = {Winiarski, Tomasz and Dudek, Wojciech and Giełdowski, Daniel},
  booktitle = {Progress in Polish Artificial Intelligence Research},
  title = {Rico: extended TIAGo robot towards up-to-date social and assistive robot usage scenarios},
  year = {2024},
  month = apr,
  note = {PP-RAI 2024, 5th Polish Conference on Artificial Intelligence, 18-20.04.2024 Warsaw, Poland},
  number = {5},
  pages = {287-294},
  publisher = {Warsaw University of Technology},
  doi = {10.17388/WUT.2024.0002.MiNI},
  projects = {SMIT},
  twiki = {article}
}
```
Social and assistive robotics have vastly increased in popularity in recent years. Due to the wide range of usage, robots executing such tasks must be highly reliable and possess enough functions to satisfy multiple scenarios. This article describes a mobile, artificial intelligence-driven, robotic platform Rico. Its prior usage in similar scenarios, the number of its capabilities, and the experiments it presented should qualify it as a proper arm-less platform for social and assistive circumstances.
S. Stankevich and W. Dudek
Interpreting and learning voice commands with a Large Language Model for a robot system
in Progress in Polish Artificial Intelligence Research, 2024, no. 5, pp. 295–301
[ BIB | DOI | abstract ]
```
@inproceedings{llm-pprai-24-twiki,
  author = {Stankevich, Stanislau and Dudek, Wojciech},
  booktitle = {Progress in Polish Artificial Intelligence Research},
  title = {Interpreting and learning voice commands with a Large Language Model for a robot system},
  year = {2024},
  month = apr,
  note = {PP-RAI 2024, 5th Polish Conference on Artificial Intelligence, 18-20.04.2024 Warsaw, Poland},
  number = {5},
  pages = {295-301},
  publisher = {Warsaw University of Technology},
  doi = {10.17388/WUT.2024.0002.MiNI},
  projects = {SMIT},
  twiki = {article}
}
```
Robots are increasingly common in industry and daily life, such as in nursing homes where they can assist staff. A key challenge is developing intuitive interfaces for easy communication. The use of Large Language Models (LLMs) like GPT-4 has enhanced robot capabilities, allowing for real-time interaction and decision-making. This integration improves robots’ adaptability and functionality. This project focuses on merging LLMs with databases to improve decision-making and enable knowledge acquisition for request interpretation problems.
D. Seredyński
Hierarchical TMP: combining HTN and geometric planning
in Progress in Polish Artificial Intelligence Research, 2024, no. 5, pp. 272–279
[ BIB | DOI | abstract ]
```
@inproceedings{ds-pprai-24-twiki,
  author = {Seredyński, Dawid},
  booktitle = {Progress in Polish Artificial Intelligence Research},
  title = {Hierarchical TMP: combining HTN and geometric planning},
  year = {2024},
  month = apr,
  note = {PP-RAI 2024, 5th Polish Conference on Artificial Intelligence, 18-20.04.2024 Warsaw, Poland},
  number = {5},
  pages = {272-279},
  publisher = {Warsaw University of Technology},
  doi = {10.17388/WUT.2024.0002.MiNI},
  twiki = {article}
}
```
The paper presents a Task and Motion Planning (TMP) technique based on Hierarchical Task Network (HTN) and conditional generators. The HTN notation is based on literature and it is extended with a world model that fills the ,,semantic gap” between a symbolic level of task planning and a geometric level of motion planning. The presented planer has been validated on a challenging planning domain of service robotics in kitchen environment. Presented experiments show that generation of parameters of tasks (geometric planning) is the most time-consuming operation and feedback information from generators improve performance of the planner.

V. Kyryk, M. Figat, and M. Kyryk

Agent-Based Autonomous Robotic System Using Deep Reinforcement and Transfer Learning

in Digital Ecosystems: Interconnecting Advanced Networks with AI Applications, Cham, 2024, pp. 483–505

[ BIB | DOI ]

@inproceedings{mf-rtl-2024-twiki,
  author = {Kyryk, Vladyslav and Figat, Maksym and Kyryk, Marian},
  editor = {Luntovskyy, Andriy and Klymash, Mikhailo and Melnyk, Igor and Beshley, Mykola and Schill, Alexander},
  title = {Agent-Based Autonomous Robotic System Using Deep Reinforcement and Transfer Learning},
  booktitle = {Digital Ecosystems: Interconnecting Advanced Networks with AI Applications},
  year = {2024},
  publisher = {Springer Nature Switzerland},
  address = {Cham},
  pages = {483--505},
  isbn = {978-3-031-61221-3},
  doi = {10.1007/978-3-031-61221-3_23},
  twiki = {article}
}

P. Chaber, P. Domański, P. Marusak, R. Nebeluk, D. Seredyński, K. Zarzycki, and C. Zieliński

On the simplification of the internal nonlinear robot models for the MPC-based visual servoing

Nonlinear Dynamics, vol. 112, p. 13047–13071, 2024

[ BIB | DOI ]

@article{Chaber:ND:2024,
  author = {Chaber, Patryk and Domański, Paweł and Marusak, Piotr and Nebeluk, Robert and Seredyński, Dawid and Zarzycki, Krzysztof and Zieliński, Cezary},
  title = {On the simplification of the internal nonlinear robot models for the MPC-based visual servoing},
  journal = {Nonlinear Dynamics},
  year = {2024},
  doi = {10.1007/s11071-024-09714-5},
  volume = {112},
  pages = {13047–-13071}
}

C. Zieliński

Interrupting Companion Robot Activities

in 13th International Workshop on Robot Motion and Control (RoMoCo), 2024, pp. 49–53

[ BIB | DOI ]

@inproceedings{zielinskiRoMoCo:2024,
  title = {Interrupting Companion Robot Activities},
  author = {Zieliński, Cezary},
  booktitle = {13th International Workshop on Robot Motion and Control (RoMoCo)},
  doi = {10.1109/RoMoCo60539.2024.10604331},
  pages = {49--53},
  year = {2024}
}

C. Zieliński

Industrial Robot Programming Methods, Part 1 (in Polish)

Automatyka, vol. 6, pp. 54–59, 2024

[ BIB ]

@article{Zielinski:Automatyka-1:2024eng,
  author = {Zieliński, Cezary},
  title = {Industrial Robot Programming Methods, Part~1 (in Polish)},
  journal = {Automatyka},
  volume = {6},
  pages = {54--59},
  year = {2024}
}

C. Zieliński

Industrial Robot Programming Methods, Part 2 (in Polish)

Automatyka, vol. 7–8, pp. 57–63, 2024

[ BIB ]

@article{Zielinski:Automatyka-2:2024eng,
  author = {Zieliński, Cezary},
  title = {Industrial Robot Programming Methods, Part~2 (in Polish)},
  journal = {Automatyka},
  volume = {7--8},
  pages = {57--63},
  year = {2024}
}

C. Zieliński

Industrial Robot Programming Methods, Part 3 (in Polish)

Automatyka, vol. 9, pp. 52–58, 2024

[ BIB ]

@article{Zielinski:Automatyka-3:2024eng,
  author = {Zieliński, Cezary},
  title = {Industrial Robot Programming Methods, Part~3 (in Polish)},
  journal = {Automatyka},
  volume = {9},
  pages = {52--58},
  year = {2024}
}

C. Zieliński

Industrial Robot Programming Methods, Part 4 (in Polish)

Automatyka, vol. 10, pp. 60–70, 2024

[ BIB ]

@article{Zielinski:Automatyka-4:2024eng,
  author = {Zieliński, Cezary},
  title = {Industrial Robot Programming Methods, Part~4 (in Polish)},
  journal = {Automatyka},
  volume = {10},
  pages = {60--70},
  year = {2024}
}

2023

B. Kozakiewicz and T. Winiarski
Spring based on flat permanent magnets: design, analysis and use in variable stiffness actuator
Facta Universitatis, Series: Mechanical Engineering, vol. 21, no. 1, pp. 101–120, 2023
[ BIB | DOI | abstract | URL ]
```
@article{kozakiewicz2021spring-twiki,
  author = {Kozakiewicz, Bartłomiej and Winiarski, Tomasz},
  journal = {Facta Universitatis, Series: Mechanical Engineering},
  title = {Spring based on flat permanent magnets: design, analysis and use in variable stiffness actuator},
  year = {2023},
  number = {1},
  pages = {101--120},
  volume = {21},
  doi = {10.22190/FUME210412055K},
  projects = {aal-incare},
  twiki = {journal},
  robots = {attractor},
  url = {http://casopisi.junis.ni.ac.rs/index.php/FUMechEng/article/view/6852}
}
```
Modern robot applications benefit from including variable stiffness actuators (VSA) in the kinematic chain. In this paper, we focus on VSA utilizing a magnetic spring made of two coaxial rings divided into alternately magnetized sections. The torque generated between the rings is opposite to the angular deflection from equilibrium and its value increases as the deflection grows – within a specific range of angles that we call a stable range. Beyond the stable range, the spring exhibits negative stiffness what causes problems with prediction and control. In order to avoid it, it is convenient to operate within a narrower range of angles that we call a safe range. The magnetic springs proposed so far utilize few pairs of arc magnets, and their safe ranges are significantly smaller than the stable ones. In order to broaden the safe range, we propose a different design of the magnetic spring, which is composed of flat magnets, as well as a new arrangement of VSA (called ATTRACTOR) utilizing the proposed spring. Correctness and usability of the concept are verified in FEM analyses and experiments performed on constructed VSA, which led to formulating models of the magnetic spring. The results show that choosing flat magnets over arc ones enables shaping spring characteristics in a way that broadens the safe range. An additional benefit is lowered cost, and the main disadvantage is a reduced maximal torque that the spring is capable of transmitting. The whole VSA can be perceived as promising construction for further development, miniaturization and possible application in modern robotic mechanisms.
T. Winiarski
MeROS: SysML-based Metamodel for ROS-based Systems
IEEE Access, vol. 11, pp. 82802–82815, 2023
[ BIB | DOI | abstract ]
```
@article{meros-access-twiki,
  author = {Winiarski, Tomasz},
  journal = {IEEE Access},
  title = {{MeROS: SysML-based Metamodel for ROS-based Systems}},
  year = {2023},
  pages = {82802-82815},
  volume = {11},
  doi = {10.1109/ACCESS.2023.3301727},
  projects = {SMIT},
  twiki = {article}
}
```
The complexity of today’s robot control systems implies difficulty in developing them efficiently and reliably. Systems engineering (SE) and frameworks come to help. The framework metamodels are needed to support the standardisation and correctness of the created application models. Although the use of frameworks is widespread nowadays, for the most popular of them, Robot Operating System (ROS), a contemporary metamodel has been missing so far. This article proposes a new metamodel for ROS called MeROS, which addresses the running system and developer workspace. The ROS comes in two versions: ROS 1 and ROS 2. The metamodel includes both versions. In particular, the latest ROS 1 concepts are considered, such as nodelet, action, and metapackage. An essential addition to the original ROS concepts is the grouping of these concepts, which provides an opportunity to illustrate the system’s decomposition and varying degrees of detail in its presentation. The metamodel is derived from the requirements and verified on the practical example of Rico assistive robot. The matter is described in a standardised way in SysML (Systems Modeling Language). Hence, common development tools that support SysML can help develop robot controllers in the spirit of SE.

R. Nebeluk, K. Zarzycki, D. Seredyński, P. Chaber, M. Figat, P. D. Domański, and C. Zieliński

Predictive tracking of an object by a pan–tilt camera of a robot

Nonlinear Dynamics, vol. 111, no. 9, pp. 8383–8395, 2023

[ BIB ]

@article{nebeluk2023predictive-twiki,
  title = {Predictive tracking of an object by a pan--tilt camera of a robot},
  author = {Nebeluk, Robert and Zarzycki, Krzysztof and Seredyński, Dawid and Chaber, Patryk and Figat, Maksym and Domański, Paweł D and Zieliński, Cezary},
  journal = {Nonlinear Dynamics},
  volume = {111},
  number = {9},
  pages = {8383--8395},
  year = {2023},
  publisher = {Springer},
  twiki = {article}
}

M. Figat and C. Zieliński

Synthesis of Robotic System Controllers Using Robotic System Specification Language

IEEE Robotics and Automation Letters, vol. 8, no. 2, pp. 688–695, 2023

[ BIB | DOI ]

@article{Figat:2022:RAL-twiki,
  author = {Figat, Maksym and Zieliński, Cezary},
  journal = {{IEEE Robotics and Automation Letters}},
  title = {{Synthesis of Robotic System Controllers Using Robotic System Specification Language}},
  year = {2023},
  volume = {8},
  number = {2},
  pages = {688-695},
  doi = {10.1109/LRA.2022.3229231}
}

C. Zieliński

Robotics: Techniques, Functions, Social Role, Part 2: Current Capabilities of Robots (in Polish)

Measurements, Automation, Robotics – Pomiary Automatyka Robotyka (PAR), vol. 27, no. 247, pp. 5–18, Jan. 2023

[ BIB | DOI | URL ]

@article{Zielinski-Robotyka:2023cz2-twiki,
  author = {Zieliński, Cezary},
  title = {{Robotics: Techniques, Functions, Social Role, Part 2: Current Capabilities of Robots (in Polish)}},
  year = {2023},
  journal = {{Measurements, Automation, Robotics -- Pomiary Automatyka Robotyka (PAR)}},
  month = jan,
  doi = {10.14313/PAR_247/5},
  volume = {27},
  number = {247},
  pages = {5--18},
  url = {https://www.par.pl/Archiwum/2023/1-2023/Robotyka-techniki-funkcje-rola-spoleczna-Cz.-2.-Aktualne-mozliwosci-robotow}
}

C. Zieliński

Robotics: Techniques, Functions, Social Role, Part 3: Robots and Social Problems (in Polish)

Measurements, Automation, Robotics – Pomiary Automatyka Robotyka (PAR), vol. 27, no. 248, pp. 5–20, 2023

[ BIB | DOI | URL ]

@article{Zielinski-Robotyka:2023cz3-twiki,
  author = {Zieliński, Cezary},
  title = {{Robotics: Techniques, Functions, Social Role, Part 3: Robots and Social Problems (in Polish)}},
  year = {2023},
  journal = {{Measurements, Automation, Robotics -- Pomiary Automatyka Robotyka (PAR)}},
  doi = {10.14313/PAR_248/5},
  volume = {27},
  number = {248},
  pages = {5-20},
  url = {https://www.par.pl/Archiwum/2023/2-2023/Robotyka-techniki-funkcje-rola-spoleczna.-Cz.-3.-Roboty-a-problemy-spoleczne}
}

C. Zieliński and M. Figat

Robotic System Specification Language Use Case

in Advanced, Contemporary Control, Proceedings of the XXI Polish Control Conference, Gliwice, Poland, Cham, 2023, pp. 269–281

[ BIB ]

@inproceedings{Zielinski-kka-2023-twiki,
  author = {Zieliński, Cezary and Figat, Maksym},
  editor = {Pawelczyk, Marek and Bismor, Dariusz and Ogonowski, Szymon and Kacprzyk, Janusz},
  title = {{Robotic System Specification Language Use Case}},
  booktitle = {{Advanced, Contemporary Control, Proceedings of the XXI Polish Control Conference, Gliwice, Poland}},
  year = {2023},
  publisher = {Springer Nature Switzerland},
  address = {Cham},
  pages = {269--281},
  isbn = {978-3-031-35173-0}
}

M. Figat and C. Zieliński

Evolution of Robotic System Specification Methodology

in Conference PP-RAI’2023 - 4th Polish Conference on Artificial Intelligence, 2023

[ BIB ]

@inproceedings{Figat-evolution-pprai-2023-twiki,
  author = {Figat, Maksym and Zieliński, Cezary},
  booktitle = {{Conference PP-RAI'2023 - 4th Polish Conference on Artificial Intelligence}},
  title = {Evolution of Robotic System Specification Methodology},
  year = {2023}
}

B. Mastej and M. Figat

Hierarchical Distributed Cluster-based Method for Robotic Swarms

in Conference PP-RAI’2023 - 4th Polish Conference on Artificial Intelligence, 2023

[ BIB ]

@inproceedings{Mastej-swarms-pprai-2023-twiki,
  author = {Mastej, Bartłomiej and Figat, Maksym},
  booktitle = {{Conference PP-RAI'2023 - 4th Polish Conference on Artificial Intelligence}},
  title = {{Hierarchical Distributed Cluster-based Method for Robotic Swarms}},
  year = {2023}
}

M. Figat and C. Zieliński

A Toolchain for Robotic System Specification and Implementation

in Workshop on Robot Software Architectures at the 2023 International Conference on Robotics and Automation (ICRA 2023) in London, United Kingdom, 2023

[ BIB ]

@inproceedings{Figat-toolchain-icra-2023-twiki,
  author = {Figat, Maksym and Zieliński, Cezary},
  booktitle = {{Workshop on Robot Software Architectures at the 2023 International Conference on Robotics and Automation (ICRA 2023) in London, United Kingdom}},
  title = {A Toolchain for Robotic System Specification and Implementation},
  year = {2023}
}

M. Figat

Dynamic Communication for Flexible and Resilient Robotic Systems

in The 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Detroit, USA, (late breaking results), 2023

[ BIB ]

@inproceedings{Figat-communication-iros-2023-twiki,
  author = {Figat, Maksym},
  booktitle = {{The 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023), Detroit, USA, (late breaking results)}},
  title = {{Dynamic Communication for Flexible and Resilient Robotic Systems}},
  year = {2023}
}

W. Dudek, D. Giełowski, M. Stefańczyk, and T. Winiarski

Robot Task Management Training Toolchain

2023

[ BIB | URL ]

@article{smit-pprai-23-twiki,
  author = {Dudek, Wojciech and Giełowski, Daniel and Stefańczyk, Maciej and Winiarski, Tomasz},
  journal = {},
  title = {Robot Task Management Training Toolchain},
  year = {2023},
  note = {PP-RAI 2023, 4th Polish Conference on Artificial Intelligence, 24-26.04.2023 Łódź, Poland},
  projects = {SMIT},
  twiki = {preprint},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2023/pprai-23-robot-task-training-toolbox.pdf}
}

2022

W. Dudek

Model systemu sterowania robota rozważnie zarządzającego przerywalnymi zadaniami

in XVI Krajowa Konferencja Robotyki – Postępy robotyki, 2022, vol. 1

[ BIB | URL ]

@inproceedings{dudek:kkr16_phd-twiki,
  author = {Dudek, Wojciech},
  title = {{Model systemu sterowania robota rozważnie zarządzającego przerywalnymi zadaniami}},
  booktitle = {XVI Krajowa Konferencja Robotyki -- Postępy robotyki},
  year = {2022},
  volume = {1},
  conference = {kkr16},
  lang = {pl},
  twiki = {inbook},
  url = {https://robotyka.ia.pw.edu.pl/papers/phd-wd-kkr-2022.pdf}
}

M. Figat and C. Zieliński
Parameterised robotic system meta-model expressed by Hierarchical Petri nets
Robotics and Autonomous Systems, p. 103987, 2022
[ BIB | DOI | abstract | URL ]
```
@article{Figat:2022:RAS-twiki,
  author = {Figat, Maksym and Zieliński, Cezary},
  journal = {Robotics and Autonomous Systems},
  title = {Parameterised robotic system meta-model expressed by Hierarchical Petri nets},
  year = {2022},
  issn = {0921-8890},
  pages = {103987},
  doi = {10.1016/j.robot.2021.103987},
  keywords = {Embodied agent approach, Model Driven Engineering, Robotic System Hierarchical Petri Net, Meta-model parametrisation},
  projects = {Roko},
  twiki = {journal},
  url = {https://www.sciencedirect.com/science/article/pii/S0921889021002487}
}
```
The paper presents a model-based approach to developing robotic system controllers. Central to this approach is a parameterised meta-model that describes the generic robotic system from two points of view: structure and activity. By appropriate parametrisation of the meta-model one can obtain a particular model of a robotic system performing desired tasks. The meta-model is expressed using the Robotic System Hierarchical Petri Net (RSHPN), a 6-layer Petri net tailored for robotics. Each layer describes the activity of the robotic system at a completely different level of abstraction. This guarantees the separation of concerns. The required model emerges from the meta-model by appropriate parametrisation of the layers of the RSHPN. Introduction of parametrisation enables the robot designer to focus only on the concepts derived from the domain. It greatly facilitates the robotic system development process as it gives the designer clear guidance on what needs to be defined and what is imposed by the design pattern. The resulting single RSHPN model is used both to verify some properties of the system, e.g. lack of deadlocks, but also to automatically generate controller code. The presented approach is illustrated by examples of the creation of two different robotic systems.
T. Winiarski and D. Seredyński
EARL - dziedzinowy język opisu systemów cyberfizycznych
in XVI Krajowa Konferencja Robotyki – Postępy robotyki, 2022, vol. 1, pp. 223–232
[ BIB | abstract | URL ]
```
@inproceedings{kkr16_earl-twiki,
  author = {Winiarski, Tomasz and Seredyński, Dawid},
  booktitle = {XVI Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{EARL - dziedzinowy język opisu systemów cyberfizycznych}},
  year = {2022},
  pages = {223--232},
  volume = {1},
  conference = {kkr16},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2022/earl-kkr16.pdf}
}
```
Modelowanie jest jednym z podstawowych aspektów inżynierii. Dotyczy to w szczególności systemów cyberfizycznych, w tym robotycznych. W artykule zaprezentowano syntetyczny opis dziedzinowego języka opisu systemów cyberfizycznych – EARL (Embodied Agent-Based cybeR-physical Control Systems Modelling Language). Język ten opiera się na \mboxSysML (Systems Modelling Language) i służy przede wszystkim do modelowania systemów w sposób zgodny z teorią agentową szkoły warszawskiej profesora Cezarego Zielińskiego. W artykule zamieszczono także wybrane praktyczne aspekty użycia EARL w modelowaniu konkretnych systemów.

P. Pałka, C. Zieliński, W. Dudek, D. Seredyński, and W. Szynkiewicz

Communication-Focused Top-Down Design of Robotic Systems Based on Binary Decomposition

Energies, vol. 15, no. 21, p. 7983, 2022

[ BIB ]

@article{palka2022communication-twiki,
  title = {Communication-Focused Top-Down Design of Robotic Systems Based on Binary Decomposition},
  author = {Pałka, Piotr and Zieliński, Cezary and Dudek, Wojciech and Seredyński, Dawid and Szynkiewicz, Wojciech},
  journal = {Energies},
  volume = {15},
  number = {21},
  pages = {7983},
  year = {2022},
  publisher = {MDPI},
  twiki = {article}
}

M. Ławryńczuk, P. M. Marusak, P. Chaber, and D. Seredyński

Initialisation of Optimisation Solvers for Nonlinear Model Predictive Control: Classical vs. Hybrid Methods

Energies, vol. 15, no. 7, p. 2483, 2022

[ BIB ]

@article{lawrynczuk2022initialisation-twiki,
  title = {Initialisation of Optimisation Solvers for Nonlinear Model Predictive Control: Classical vs. Hybrid Methods},
  author = {Ławryńczuk, Maciej and Marusak, Piotr M and Chaber, Patryk and Seredyński, Dawid},
  journal = {Energies},
  volume = {15},
  number = {7},
  pages = {2483},
  year = {2022},
  publisher = {MDPI},
  twiki = {article}
}

C. Zieliński

Attitude towards knowledge and education in societies of the Chinese cultural sphere (in Polish)

Evolution of the civilizational role and social perception of science: Part. 2, vol. 79, pp. 55–72, 2022

[ BIB ]

@article{zielinski-2022-chinese-cultural-sphere-twiki,
  author = {Zieliński, Cezary},
  title = {Attitude towards knowledge and education in societies of the Chinese cultural sphere (in Polish)},
  booktitle = {Evolution of the civilizational role and social perception of science: Part. 2},
  journal = {Publications of the Mark Dietrich Institute of Contemporary Civilisation Problems},
  volume = {79},
  year = {2022},
  twiki = {},
  pages = {55-72}
}

M. Figat and C. Zieliński

Meta-model of robotic systems (in Polish)

in XVI Krajowa Konferencja Robotyki – Postępy robotyki, Trzebieszowice, Poland, 2022, vol. 1, pp. 233–242

[ BIB ]

@inproceedings{figat-kkr-2022-twiki,
  author = {Figat, Maksym and Zieliński, Cezary},
  booktitle = {XVI Krajowa Konferencja Robotyki -- Postępy robotyki, Trzebieszowice, Poland},
  title = {{Meta-model of robotic systems (in Polish)}},
  publisher = {Wydawnictwo Politechniki Warszawskiej},
  series = {Scientific Transactions -- Electronics},
  year = {2022},
  pages = {233--242},
  volume = {1},
  conference = {kkr16},
  lang = {pl}
}

C. Zieliński

Robotics: Techniques, Functions, Social Role, Part 1: Technical Foundations of Intelligence and Security of Robots (in Polish)

Measurements, Automation, Robotics – Pomiary Automatyka Robotyka (PAR), vol. 26, no. 246, pp. 5–26, Apr. 2022

[ BIB | DOI | URL ]

@article{Zielinski-Robotyka:2022cz1-twiki,
  author = {Zieliński, Cezary},
  title = {{Robotics: Techniques, Functions, Social Role, Part 1: Technical Foundations of Intelligence and Security of Robots (in Polish)}},
  year = {2022},
  journal = {{Measurements, Automation, Robotics -- Pomiary Automatyka Robotyka (PAR)}},
  month = apr,
  doi = {10.14313/PAR_246/5},
  volume = {26},
  number = {246},
  pages = {5--26},
  url = {https://www.par.pl/Archiwum/2022/4-2022/Robotyka-techniki-funkcje-rola-spoleczna-Cz.-1.-Techniczne-podstawy-inteligencji-i-bezpieczenstwa-robotow}
}

2021

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
[ BIB | DOI | abstract | URL ]
```
@article{en14206693-grav-comp-twiki,
  author = {Winiarski, Tomasz and Jarocki, Szymon and Seredyński, Dawid},
  journal = {Energies},
  title = {Grasped Object Weight Compensation in Reference to Impedance Controlled Robots},
  year = {2021},
  issn = {1996-1073},
  number = {20},
  pages = {6693},
  volume = {14},
  doi = {10.3390/en14206693},
  projects = {Roko,EARL},
  twiki = {journal},
  url = {https://www.mdpi.com/1996-1073/14/20/6693}
}
```
This paper addresses the problem of grasped object weight compensation in the one-handed manipulation of impedance controlled robots. In an exemplary identification procedure, the weight of an object and its centre of mass together with gripper kinematic configuration are identified. The procedure is based on the measurements from a 6-axis force/torque sensor mounted near the gripper. The proposed method reduces trajectory tracking errors coming from the model imprecision without compromising the main advantages of impedance control. The whole approach is applied according to the embodied agent paradigm and verified on the two-arm service robot both in simulation and on hardware. Due to the general description that follows system engineering standards, the method can be easily modified or applied to similar systems.
T. Winiarski, J. Sikora, D. Seredyński, and W. Dudek
DAIMM Simulation Platform for Dual-Arm Impedance Controlled Mobile Manipulation
in 7th International Conference on Automation, Robotics and Applications (ICARA), 2021, pp. 180–184
[ BIB | DOI | abstract | URL ]
```
@inproceedings{winiarski-icara-21-twiki,
  author = {Winiarski, Tomasz and Sikora, Jakub and Seredyński, Dawid and Dudek, Wojciech},
  booktitle = {7th International Conference on Automation, Robotics and Applications (ICARA)},
  title = {{DAIMM Simulation Platform for Dual-Arm Impedance Controlled Mobile Manipulation}},
  year = {2021},
  pages = {180--184},
  publisher = {IEEE},
  doi = {10.1109/ICARA51699.2021.9376462},
  projects = {Roko},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2021/integrated-velma-icara.pdf}
}
```
One of the most considerable research problems in robotics is manipulation investigated in robot systems operating in different environments and performing various tasks. There are many advanced robot tasks that require agile manipulation and dual-arm setup to make them feasible (e.g., opening a jar or a box, package wrapping). Moreover, robots can sense torques in joints to be compliant during cooperation with humans and to be mobile to enlarge their workspace. Therefore, the dual-arm, impedance controlled mobile manipulation (DAIMM) problem emerge. In this article we state requirements, which should be considered in the DAIMM problem simulators. Moreover, we propose a model for simulation platforms able to perform DAIMM tasks and verify it by the implementation of an exemplary platform. The robot simulated by the exemplary platform successfully realised two tasks involving agile manipulation and navigation.
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
[ BIB | DOI | abstract ]
```
@article{karwowski2021hubero-twiki,
  title = {{HuBeRo-a Framework to Simulate Human Behaviour in Robot Research}},
  author = {Karwowski, Jarosław and Dudek, Wojciech and Węgierek, Maciej and Winiarski, Tomasz},
  journal = {Journal of Automation, Mobile Robotics and Intelligent Systems},
  volume = {15},
  number = {1},
  pages = {31--38},
  year = {2021},
  doi = {10.14313/JAMRIS/1-2021/4},
  projects = {aal-incare,EARL},
  twiki = {journal}
}
```
Social robots’ software is commonly tested in a simulation due to the safety and convenience reasons as well as an environment configuration repeatability assurance. An interaction between a robot and a human requires taking a person presence and his movement abilities into consideration. The purpose of the article is to present the HuBeRo framework, which can be used to simulate human motion behaviour. The framework allows independent control of each individual’s activity, which distinguishes the presented approach from state-of-the-art, opensource solutions from the robotics domain. The article presents the framework assumptions, architecture, and an exemplary application with respect to presented scenarios.
K. Chachuła and M. Stefańczyk
The utilization of spherical camera in simulation for service robotics
arXiv:2103.09297, 2021
[ BIB | abstract | URL ]
```
@article{chachula-spherical-camera-21-twiki,
  author = {Chachuła, Krystian and Stefańczyk, Maciej},
  journal = {arXiv:2103.09297},
  title = {The utilization of spherical camera in simulation for service robotics},
  year = {2021},
  projects = {aal-incare},
  twiki = {article},
  url = {http://arxiv.org/abs/2103.09297}
}
```
Safety is one of the most critical factors in robotics, especially when robots have to collaborate with people in a shared environment. Testing the physical systems, however, must focus on much more than just software. One of the common steps in robotic system development is the utilization of simulators, which are very good for tasks like navigation or manipulation. Testing vision systems is more challenging, as the simulated data often is far from the real camera readings. In this paper, we show the advantages of using the spherical camera for recording the sequences of test images and a way to integrate those with existing robotic simulator. The presented system also has the possibility to be extended with rendered objects to further improve its usability.
D. Gruszczyński and M. Stefańczyk
Active fall prevention: robotic vision in AAL
arXiv:2103.09298, 2021
[ BIB | abstract | URL ]
```
@article{gruszczynski-active-fall-21-twiki,
  author = {Gruszczyński, Dawid and Stefańczyk, Maciej},
  journal = {arXiv:2103.09298},
  title = {Active fall prevention: robotic vision in AAL},
  year = {2021},
  projects = {aal-incare},
  twiki = {article},
  url = {http://arxiv.org/abs/2103.09298}
}
```
Effective methods of preventing falls significantly improve the quality of life of the Elderly. Nowadays, people focus mainly on the proper provision of the apartment with handrails and fall detection systems once they have occurred. The article presents a system of active detection and classification of the risk of falls in the home space using a service robot equipped with a vision sensor. Hazard classification allows for effective performance of tasks assigned to the robot while maintaining a high level of user safety.

C. Zieliński

in Automatic Control, Robotics and Information Processing, vol. 296,

P. Kulczycki, J. Korbicz, and J. Kacprzyk, Eds. Springer, 2021, pp. 523–561

[ BIB | DOI ]

@inbook{Zielinski-KAiR-eng:2021-twiki,
  chapter = {Robotic System Design Methodology Utilising Embodied Agents},
  author = {Zieliński, Cezary},
  booktitle = {Automatic Control, Robotics and Information Processing},
  publisher = {Springer},
  editor = {Kulczycki, P. and Korbicz, J. and Kacprzyk, J.},
  series = {Advances in Intelligent Systems and Computing},
  volume = {296},
  year = {2021},
  pages = {523--561},
  twiki = {inbook},
  doi = {10.1007/978-3-030-48587-0\_17}
}

T. Zielińska, E. Jezierski, K. Kozłowski, P. Szynkarczyk, K. Tchoń, and C. Zieliński

Rozwój robotyki w Polsce

Pomiary, Automatyka, Robotyka (PAR), vol. 25, no. 1, pp. 5–16, 2021

[ BIB ]

@article{zielinski-2020-rozwoj-robotyki-w-polsce-twiki,
  author = {Zielińska, Teresa and Jezierski, Edward and Kozłowski, Krzysztof and Szynkarczyk, Piotr and Tchoń, Krzysztof and Zieliński, Cezary},
  title = {Rozwój robotyki w Polsce},
  journal = {Pomiary, Automatyka, Robotyka (PAR)},
  year = {2021},
  volume = {25},
  pages = {5-16},
  number = {1},
  twiki = {journal},
  note = {Development of robotics in Poland (in Polish)}
}

W. Dudek

Prudent management of interruptible tasks executed by a service robot

PhD thesis, Warsaw University of Technology, 2021

[ BIB | abstract | URL ]

@phdthesis{Dudek:2021_phd-twiki,
  author = {Dudek, Wojciech},
  school = {Warsaw University of Technology},
  title = {Prudent management of interruptible tasks executed by a service robot},
  year = {2021},
  lang = {en},
  owner = {wdudek},
  projects = {aal-incare},
  timestamp = {2021.05.18},
  twiki = {phd},
  url = {https://robotyka.ia.pw.edu.pl/papers/phd_thesis_wd.pdf}
}

D. Seredyński
System sterowania dwurękiego robota usługowego
Pomiary Automatyka Robotyka, vol. 25, no. 242, pp. 37–44, Apr. 2021
[ BIB | DOI | abstract | URL ]
```
@article{seredynski2021system-twiki,
  author = {Seredyński, Dawid},
  title = {System sterowania dwurękiego robota  usługowego},
  year = {2021},
  journal = {Pomiary Automatyka Robotyka},
  month = apr,
  doi = {10.14313/PAR_242/37},
  volume = {25},
  number = {242},
  pages = {37-44},
  keywords = {agent, robot dwuręki, robotyka usługowa, specyfikacja, system sterowania},
  url = {http://www.par.pl/Archiwum/2021/4-2021/System-sterowania-dwurekiego-robota-uslugowego}
}
```
This work presents an example control system of a service robot. All used concepts, tools and open source software are described. The control system is presented starting from configuration of hardware, specification, up to its implementation. Generality of the image allows the reader to look at the problem globally, while some important, detailed aspects are highlighted. Simulation–related problems are also described. The presented system of WUT Velma robot has been used in many research works.

2020

N. S. Brenčič, M. Dragoi, I. Mocanu, and T. Winiarski
Intuitive and Intelligent Solutions for Elderly Care
in Digital Health in Focus of Predictive, Preventive and Personalised Medicine,
L. Chaari, Ed. Cham: Springer International Publishing, 2020, pp. 101–108
[ BIB | DOI | abstract | URL ]
```
@inbook{brenvcivc2020intuitive,
  author = {Bren{\v{c}}i{\v{c}}, Neja Samar and Dragoi, Marius and Mocanu, Irina and Winiarski, Tomasz},
  editor = {Chaari, Lotfi},
  title = {Intuitive and Intelligent Solutions for Elderly Care},
  booktitle = {Digital Health in Focus of Predictive, Preventive and Personalised Medicine},
  year = {2020},
  publisher = {Springer International Publishing},
  address = {Cham},
  pages = {101--108},
  isbn = {978-3-030-49815-3},
  doi = {10.1007/978-3-030-49815-3_12},
  projects = {aal-incare},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2020/elderly-care.pdf}
}
```
In this article we present our contributions from projects addressing Active and Assisted Living (AAL), a field which can have a considerable impact on elderly care by allowing not only preventive and predictive actions (e.g. monitoring and assessment of health parameters, sleep and mobility patterns) but also personalized care through intelligent solutions which relay on robotic platforms. The latter can also provide active support and intervention in critical situations such as fall detection and hazard identification. We are focusing on the outcome of the user-centered design involved in the projects and on some of the novel technologies which confer novelty and intelligence to our development. The main results from a multinational survey and conjoint analysis are also presented. The authors gratefully acknowledge the contribution of the IONIS consortium partners.
T. Winiarski, P. Balsam, M. Węgierek, S. Borodzicz-Jażdżyk, W. Dudek, K. Banachowicz, J. Kochanowski, and M. Marchel
A concept of a measuring system for probe kinesthetic parameters identification during echocardiography examination
arXiv:2007.13387, 2020
[ BIB | abstract | URL ]
```
@article{winiarski-echo-20-twiki,
  title = {A concept of a measuring system for probe kinesthetic parameters identification during echocardiography examination},
  author = {Winiarski, Tomasz and Balsam, Paweł and Węgierek, Maciej and Borodzicz-Jażdżyk, Sonia and Dudek, Wojciech and Banachowicz, Konrad and Kochanowski, Janusz and Marchel, Michał},
  journal = {arXiv:2007.13387},
  year = {2020},
  twiki = {article},
  url = {http://arxiv.org/abs/2007.13387}
}
```
Echocardiography is the most commonly used imaging technique in clinical cardiology. Due to the high demand for this type of examination and the small number of specialists, there is a need to support the examination process through telemedicine. Moreover, specialist training can be supported by appropriate simulation systems. For (i) creating tailor-made tele-echo robots, (ii) creating echo system simulators, and (iii) conducting echo examination with local or remote expert assistance, knowledge about echo probe kinesthetic parameters during echocardiography examination is advisable. The article describes the concept of a measuring system for obtaining such data.
T. Kornuta, C. Zieliński, and T. Winiarski
A universal architectural pattern and specification method for robot control system design
Bulletin of the Polish Academy of Sciences: Technical Sciences, vol. 68, no. 1, pp. 3–29, 2020
[ BIB | DOI | abstract | URL ]
```
@article{kornuta-bpan-2020-twiki,
  author = {Kornuta, Tomasz and Zieliński, Cezary and Winiarski, Tomasz},
  journal = {Bulletin of the Polish Academy of Sciences: Technical Sciences},
  title = {A universal architectural pattern and specification method for robot control system design},
  year = {2020},
  number = {1},
  pages = {3-29},
  volume = {68},
  doi = {10.24425/bpasts.2020.131827},
  projects = {GrantMeDeRo,GrantRobREx},
  howpublished = {online},
  keywords = {Autonomous Agents, Control Architectures and Programming, service robots, Range Sensing, Recognition, Grasping},
  twiki = {journal},
  url = {http://journals.pan.pl/Content/115154/PDF/01_03-29_01163_Bpast.No.68-1_28.02.20_K_OK_TeX.pdf}
}
```
The paper presents a universal architectural pattern and an associated specification method that can be applied in the design of robot control systems. The approach describes the system in terms of embodied agents and proposes a multi-step decomposition enabling precise definition of their inner structure and operation. An embodied agent is decomposed into effectors, receptors, both real and virtual, and a control subsystem. Those entities communicate through communication buffers. The activities of those entities are governed by FSMs that invoke behaviours formulated in terms of transition functions taking as arguments the contents of input buffers and producing the values inserted into output buffers. The method is exemplified by applying it to the design of a control system of a robot executing one of the most important tasks for a service robot, i.e. picking up, by a position-force controlled robot, an object located using an RGB-D image acquired from a Kinect. Moreover in order to substantiate the universality of the presented approach we present how classical, known from the literature, robotic architectures can be expressed as systems composed of one or more embodied agents.

C. Zieliński

Zastosowanie agentów upostaciowionych do projektowania systemów robotycznych

in Automatyka, robotyka i przetwarzanie informacji, 2020, pp. 469–499

[ BIB ]

@inproceedings{Zielinski:2019:PWN,
  author = {Zieliński, Cezary},
  title = {Zastosowanie agentów upostaciowionych do projektowania systemów robotycznych},
  booktitle = {Automatyka, robotyka i przetwarzanie informacji},
  pages = {469--499},
  editor = {P. Kulczycki, J. Korbicz, J. Kacprzyk},
  publisher = {Wydawnictwo Naukowe PWN},
  year = {2020},
  twiki = {inbook},
  note = {Zielinski}
}

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
[ BIB | DOI | abstract | URL ]
```
@article{earl2020-twiki,
  author = {Winiarski, Tomasz and Węgierek, Maciej and Seredyński, Dawid and Dudek, Wojciech and Banachowicz, Konrad and Zieliński, Cezary},
  title = {{EARL -- Embodied Agent-Based Robot Control Systems Modelling Language}},
  journal = {Electronics},
  year = {2020},
  volume = {9},
  number = {2 - 379},
  issn = {2079-9292},
  article-number = {379},
  doi = {10.3390/electronics9020379},
  projects = {GrantMeDeRo,EARL},
  twiki = {journal},
  url = {https://www.mdpi.com/2079-9292/9/2/379}
}
```
The paper presents the Embodied Agent-based Robot control system modelling Language (EARL). EARL follows a Model-Driven Software Development approach (MDSD), which facilitates robot 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 controllers. EARL is compatible with component based robotic middlewares (e.g., ROS and Orocos).
W. Dudek and T. Winiarski
Scheduling of a Robot’s Tasks With the TaskER Framework
IEEE Access, vol. 8, pp. 161449–161471, 2020
[ BIB | DOI | abstract | URL | VIDEO ]
```
@article{tasker2020-twiki,
  author = {Dudek, Wojciech and Winiarski, Tomasz},
  journal = {IEEE Access},
  title = {{Scheduling of a Robot's Tasks With the TaskER Framework}},
  year = {2020},
  volume = {8},
  number = {},
  doi = {10.1109/ACCESS.2020.3020265},
  pages = {161449-161471},
  projects = {aal-incare},
  twiki = {journal},
  url = {https://ieeexplore.ieee.org/document/9180351},
  video = {https://vimeo.com/403391725}
}
```
Robots, in contrast to typical computational systems, affect the physical environment directly. Therefore, other assumptions must be considered for task management procedures in these system types. Robots coexist with humans in the environment and act upon potentially dangerous objects (e.g., a cooker); hence, extra safety procedures in robot task harmonisation must be ensured. Additionally, an algorithm that schedules tasks for a robot and optimises the robot’s operation needs to consider the robot motion time, dynamics of the physical processes, changes in the robot user preferences and changes in the environment made by other habitants. In this article, we investigate the problem of switching between various independent tasks safely and state requirements for a control system resolving it. The tasks are uploaded to a store, launched on a robot at the user’s request (similar to smartphone applications) and scheduled following a configurable algorithm. Furthermore, we design a model of systems satisfying the requirements. The systems are structured with agents of different classes. We propose a task-switching procedure and dedicated states of the finite-state machines describing the operation of the agents. Finally, we present a TaskER framework implementing the model, and we verify the model through the execution of an exemplary system in scenarios showing the benefits of the model implementation. As a result of our approach application, the robot tasks can be safely interrupted, postponed, resumed, and potential danger (e.g., leaving a cooker on for a long time) can be minimised.
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
[ BIB | DOI | abstract ]
```
@article{winiarski-intent-20-twiki,
  author = {Winiarski, Tomasz and Dudek, Wojciech and Stefańczyk, Maciej and Zieliński, Łukasz and Giełdowski, Daniel and Seredyński, Dawid},
  journal = {arXiv:2005.12106},
  title = {An intent-based approach for creating assistive robots' control systems},
  year = {2020},
  doi = {10.48550/arXiv.2005.12106},
  projects = {aal-incare,EARL},
  twiki = {article}
}
```
The current research standards in robotics demand general approaches to robots’ controllers development. In the assistive robotics domain, the human-machine interaction plays a substantial role. Especially, the humans generate intents that affect robot control system. In the article an approach is presented for creating control systems for assistive robots, which reacts to users’ intents delivered by voice commands, buttons, or an operator console. The whole approach was applied to the real system consisting of customised TIAGo robot and additional hardware components. The exemplary experiments performed on the platform illustrate the motivation for diversification of human-machine interfaces in assistive robots.
A. Wilkowski, M. Stefańczyk, and W. Kasprzak
Training Data Extraction and Object Detection in Surveillance Scenario
Sensors, vol. 20, no. 9, p. 2689, 2020
[ BIB | DOI | abstract | URL ]
```
@article{wilkowski2020training,
  author = {Wilkowski, Artur and Stefańczyk, Maciej and Kasprzak, Włodzimierz},
  title = {{Training Data Extraction and Object Detection in Surveillance Scenario}},
  journal = {Sensors},
  year = {2020},
  volume = {20},
  number = {9},
  pages = {2689},
  article-number = {2689},
  doi = {10.3390/s20092689},
  projects = {npc},
  twiki = {journal},
  url = {https://www.mdpi.com/1424-8220/20/9/2689}
}
```
Police and various security services use video analysis for securing public space, mass events, and when investigating criminal activity. Due to a huge amount of data supplied to surveillance systems, some automatic data processing is a necessity. In one typical scenario, an operator marks an object in an image frame and searches for all occurrences of the object in other frames or even image sequences. This problem is hard in general. Algorithms supporting this scenario must reconcile several seemingly contradicting factors: training and detection speed, detection reliability, and learning from small data sets. In the system proposed here, we use a two-stage detector. The first region proposal stage is based on a Cascade Classifier while the second classification stage is based either on a Support Vector Machines (SVMs) or Convolutional Neural Networks (CNNs). The proposed configuration ensures both speed and detection reliability. In addition to this, an object tracking and background-foreground separation algorithm is used, supported by the GrabCut algorithm and a sample synthesis procedure, in order to collect rich training data for the detector. Experiments show that the system is effective, useful, and applicable to practical surveillance tasks.
W. Szynkiewicz, W. Kasprzak, C. Zieliński, W. Dudek, M. Stefańczyk, A. Wilkowski, and M. Figat
Utilisation of Embodied Agents in the Design of Smart Human–Computer Interfaces – A Case Study in Cyberspace Event Visualisation Control
Electronics, vol. 9, no. 6, p. 976, 2020
[ BIB | DOI | abstract | URL ]
```
@article{utilisation2020-twiki,
  author = {Szynkiewicz, Wojciech and Kasprzak, Włodzimierz and Zieliński, Cezary and Dudek, Wojciech and Stefańczyk, Maciej and Wilkowski, Artur and Figat, Maksym},
  title = {{Utilisation of Embodied Agents in the Design of Smart Human–Computer Interfaces -- A Case Study in Cyberspace Event Visualisation Control}},
  journal = {Electronics},
  year = {2020},
  volume = {9},
  number = {6},
  article-number = {976},
  pages = {976},
  doi = {10.3390/electronics9060976},
  projects = {npc},
  twiki = {journal},
  url = {https://www.mdpi.com/2079-9292/9/6/976}
}
```
The goal of the research reported here was to investigate whether the design methodology utilising embodied agents can be applied to produce a multi-modal human–computer interface for cyberspace events visualisation control. This methodology requires that the designed system structure be defined in terms of cooperating agents having well-defined internal components exhibiting specified behaviours. System activities are defined in terms of finite state machines and behaviours parameterised by transition functions. In the investigated case the multi-modal interface is a component of the Operational Centre which is a part of the National Cybersecurity Platform. Embodied agents have been successfully used in the design of robotic systems. However robots operate in physical environments, while cyberspace events visualisation involves cyberspace, thus the applied design methodology required a different definition of the environment. It had to encompass the physical environment in which the operator acts and the computer screen where the results of those actions are presented. Smart human–computer interaction (HCI) is a time-aware, dynamic process in which two parties communicate via different modalities, e.g., voice, gesture, eye movement. The use of computer vision and machine intelligence techniques are essential when the human is carrying an exhausting and concentration demanding activity. The main role of this interface is to support security analysts and operators controlling visualisation of cyberspace events like incidents or cyber attacks especially when manipulating graphical information. Visualisation control modalities include visual gesture- and voice-based commands.
M. Stefańczyk and T. Bocheński
Mixing deep learning with classical vision for object recognition
Journal of WSCG, vol. 28, no. 1–2, pp. 147–154, 2020
[ BIB | DOI | abstract ]
```
@article{stefanczyk2020mixing,
  author = {Stefańczyk, Maciej and Bocheński, Tomasz},
  title = {Mixing deep learning with classical vision for object recognition},
  journal = {Journal of WSCG},
  volume = {28},
  number = {1-2},
  pages = {147-154},
  year = {2020},
  projects = {PreludiumMS},
  doi = {10.24132/JWSCG.2020.28.18}
}
```
Nowadays, when one needs a system for image recognition, it is mostly a matter of finding pre-trained CNN and, sometimes, adding additional training based on transferred knowledge. Accurate 6-DOF object localization in the image is a more laborious task and requires more complex training data to be available. On the other hand, if we know the model of the object, it is straightforward to acquire its pose from the image (RGB or RGB-D). In this paper, we try to show the advantages of mixing deep learning object recognition/detection with classical 6-DOF pose estimation algorithms, with a focus on applications in service robotics.
W. Kasprzak, W. Szynkiewicz, M. Stefańczyk, W. Dudek, M. Węgierek, D. Seredyński, M. Figat, and C. Zieliński
Agent-based approach to the design of a multimodal interface for cyber-security event visualisation control
Bulletin of the Polish Academy of Sciences: Technical Sciences, vol. 68, no. No. 5 (October), pp. 1187–1205, 2020
[ BIB | DOI | abstract ]
```
@article{kasprzak2020agent,
  author = {Kasprzak, Włodzimierz and Szynkiewicz, Wojciech and Stefańczyk, Maciej and Dudek, Wojciech and Węgierek, Maciej and Seredyński, Dawid and Figat, Maksym and Zieliński, Cezary},
  journal = {Bulletin of the Polish Academy of Sciences: Technical Sciences},
  title = {Agent-based approach to the design of a multimodal interface for cyber-security event visualisation control},
  year = {2020},
  number = {No. 5 (October)},
  pages = {1187-1205},
  volume = {68},
  doi = {10.24425/bpasts.2020.134662},
  projects = {NPC},
  howpublished = {online},
  keywords = {multimodal interface, cyber security visualisation, embodied agent},
  twiki = {journal}
}
```
Convenient human-computer interaction is essential to carry out many exhausting and concentration-demanding activities. One of them is cyber-situational awareness as well as dynamic and static risk analysis. A specific design method for a multimodal human-computer interface (HCI) for cyber-security events visualisation control is presented. The main role of the interface is to support security analysts and network operators in their monitoring activities. The proposed method of designing HCIs is adapted from the methodology of robot control system design. Both kinds of systems act by acquiring information from the environment, and utilise it to drive the devices influencing the environment. In the case of robots the environment is purely physical, while in the case of HCIs it encompasses both the physical ambience and part of the cyber-space. The goal of the designed system is to efficiently support a human operator in the presentation of cyberspace events such as incidents or cyber-attacks. Especially manipulation of graphical information is necessary. As monitoring is a continuous and tiring activity, control of how the data is presented should be exerted in as natural and convenient way as possible. Hence two main visualisation control modalities have been assumed for testing: static and dynamic gesture commands and voice commands, treated as supplementary to the standard interaction. The presented multimodal interface is a component of the Operational Centre, which is a part of the National Cybersecurity Platform. Creation of the interface out of embodied agents proved to be very useful in the specification phase and facilitated the interface implementation.

M. Figat and C. Zieliński

Robotic System Specification Methodology Based on Hierarchical Petri Nets

IEEE Access, vol. 8, pp. 71617–71627, Apr. 2020

[ BIB | DOI | URL ]

@article{Figat-ACCESS:2020-twiki,
  author = {Figat, Maksym and Zieliński, Cezary},
  title = {Robotic System Specification Methodology Based on Hierarchical Petri Nets},
  journal = {IEEE Access},
  volume = {8},
  month = apr,
  year = {2020},
  pages = {71617--71627},
  doi = {10.1109/ACCESS.2020.2987099},
  twiki = {journal},
  url = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=9063423}
}

C. Zieliński

Specification of Agent Based Robotic Systems Using Hierarchical Finite State Automatons

in Advanced, Contemporary Control, Cham, 2020, pp. 465–476

[ BIB | DOI ]

@inproceedings{zielinski-2020-specification-based-hfsa-twiki,
  author = {Zieliński, Cezary},
  title = {{Specification of Agent Based Robotic Systems Using Hierarchical Finite State Automatons}},
  booktitle = {Advanced, Contemporary Control},
  year = {2020},
  editor = {Bartoszewicz, Andrzej and Kabziński, Jacek and Kacprzyk, Janusz},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  pages = {465--476},
  publisher = {Springer International Publishing},
  address = {Cham},
  doi = {10.1007/978-3-030-50936-1_39},
  twiki = {article}
}

C. Zieliński

Koboty – w przemyśle i laboratoriach badawczych.

Automatyka, vol. 12, pp. 28–40, 2020

[ BIB ]

@article{zielinski-2020-koboty-twiki,
  author = {Zieliński, Cezary},
  title = {Koboty – w przemyśle i laboratoriach badawczych.},
  journal = {Automatyka},
  volume = {12},
  year = {2020},
  twiki = {journal},
  pages = {28--40},
  note = {Cobots - in industry and research labs (in Polish)}
}

C. Zieliński

Polecane książki: „Wieloagentowe systemy decyzyjne”

Pomiary, Automatyka, Robotyka (PAR), vol. 24, no. 4, p. 98, 2020

[ BIB ]

@article{zielinski-2020-polecane-ksiazki-twiki,
  author = {Zieliński, Cezary},
  title = {Polecane książki: „Wieloagentowe systemy decyzyjne”},
  journal = {Pomiary, Automatyka, Robotyka (PAR)},
  year = {2020},
  volume = {24},
  pages = {98},
  number = {4},
  twiki = {journal},
  note = {Recommended Books: "Multi-agent decision-making systems" (in Polish)}
}

2019

M. Stefańczyk, D. Seredyński, and M. Węgierek

Handcrafted features for CNN – is it worth it?

in Polskie Porozumienie na Rzecz Rozwoju Sztucznej Inteligencji PP-RAI’2019 Conference Proceedings, 2019, pp. 146–149

[ BIB | URL ]

@inproceedings{stefanczyk:2019-pprai-twiki,
  author = {Stefańczyk, Maciej and Seredyński, Dawid and Węgierek, Maciej},
  booktitle = {{Polskie Porozumienie na Rzecz Rozwoju Sztucznej Inteligencji PP-RAI'2019 Conference Proceedings}},
  title = {Handcrafted features for CNN -- is it worth it?},
  year = {2019},
  pages = {146-149},
  projects = {PreludiumMS},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2019/stefanczyk_pprai.pdf}
}

W. Dudek and W. Szynkiewicz
Cyber-security for Mobile Service Robots–Challenges for Cyber-physical System Safety
Journal of Telecommunications and Information Technology, 2019
[ BIB | DOI | abstract | URL ]
```
@article{dudek2019cyber,
  title = {Cyber-security for Mobile Service Robots--Challenges for Cyber-physical System Safety},
  author = {Dudek, Wojciech and Szynkiewicz, Wojciech},
  journal = {Journal of Telecommunications and Information Technology},
  year = {2019},
  doi = {10.26636/jtit.2019.131019},
  projects = {npc},
  url = {https://www.itl.waw.pl/czasopisma/JTIT/2019/2/29.pdf}
}
```
A review of the known and an indication of the new threats for cyber-physical robotic systems, caused by cybernetic attacks, serves, in this paper, as a basis for the analysis of the known methods relied upon to detect and mitigate consequences of such attacks. A particular emphasis is placed on threats specific for cyber-physical systems, as they are a feature distinguishing these systems from their traditional Information and Communication Technologies (ICT) counterparts. Based on the review of literature and own analyses, unresolved issues regarding the cyber-security of robot systems are presented and discussed.
M. Figat and C. Zieliński
Hierarchical Petri Net Representation of Robot Systems
in Automation 2019, Cham, 2019, pp. 492–501
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Figat:Automation2019_short,
  author = {Figat, Maksym and Zieliński, Cezary},
  title = {Hierarchical Petri Net Representation of Robot Systems},
  booktitle = {Automation 2019},
  year = {2019},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  pages = {492--501},
  address = {Cham},
  publisher = {Springer International Publishing},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2019/figat_automation_2019.pdf},
  doi = {10.1007/978-3-030-13273-6_46},
  isbn = {978-3-030-13273-6},
  twiki = {article},
  projects = {PreludiumMF},
  note = {Zielinski}
}
```
The paper presents a holistic robot system specification methodology taking into account both the system structure and its activities. It is based on the concept of an embodied agent. Each agent is decomposed into cooperating subsystems. Previously subsystem activities were defined by a hierarchical finite state machine (HFSM). In that approach communication between subsystems was not specified explicitly. This paper utilises a Hierarchical Petri Net (HPN) with conditions as an alternative modelling tool. HPN can be obtained by transformation of the HFSM into HPN. The resulting HPN consists of consecutive layers: subsystem layer, behaviour layer and communication layer. The proposed methodology not only organizes in a systematic and holistic manner the development of the robot system, but also introduces a comprehensive description of concurrently acting subsystems. The HPN description can be utilised to automatically generate the robot controller code.
M. Figat and C. Zieliński
Methodology of Designing Multi-agent Robot Control Systems Utilising Hierarchical Petri Nets
in The 2019 International Conference on Robotics and Automation (ICRA), Canada, Montreal, 2019, pp. 3363–3369
[ BIB | abstract | URL ]
```
@inproceedings{Figat:ICRA2019,
  author = {Figat, Maksym and Zieliński, Cezary},
  title = {Methodology of Designing Multi-agent Robot Control Systems Utilising  Hierarchical Petri Nets},
  booktitle = {The 2019 International Conference on Robotics and Automation (ICRA), Canada, Montreal},
  year = {2019},
  pages = {3363--3369},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2019/figat_icra2019.pdf},
  twiki = {article},
  projects = {PreludiumMF},
  note = {Zielinski}
}
```
A robot system is designed as a set of embodied agents. An embodied agent is decomposed into cooperating subsystems. In our previous work activities of subsystems were defined by hierarchical finite state machines. With their states activities were associated. In that approach communication between subsystems was treated as an implementation issue. This paper represents activities of a robot system using hierarchical Petri nets with conditions. Such net is created by specifying consecutive layers: multi-agent robot system layer, agent layer, subsystem layer, behaviour layer and communication layer. This decomposition not only organizes in a systematic manner the development of a robot system, but also introduces a comprehensive description of concurrently acting subsystems. Based on those theoretical considerations, a tool was created for producing hierarchical Petri nets defining the model of a robotic system and enabling automatic generation of the robot controller code, resulting in a significant acceleration of the implementation phase. The capabilities of the tool are presented by the development of a robot controller performing a rudimentary task.
C. Zieliński, M. Figat, and R. Hexel
Communication Within Multi-FSM Based Robotic Systems
Journal of Intelligent & Robotic Systems, vol. 93, no. 3, pp. 787–805, Mar. 2019
[ BIB | DOI | abstract | URL ]
```
@article{Zieliński:jint2019,
  author = {Zieliński, Cezary and Figat, Maksym and Hexel, Ren{\'e}},
  title = {Communication Within Multi-FSM Based Robotic Systems},
  journal = {Journal of Intelligent {\&} Robotic Systems},
  year = {2019},
  month = mar,
  day = {01},
  volume = {93},
  number = {3},
  pages = {787--805},
  issn = {1573-0409},
  doi = {10.1007/s10846-018-0869-6},
  url = {https://doi.org/10.1007/s10846-018-0869-6},
  twiki = {article},
  projects = {PreludiumMF},
  note = {Zielinski}
}
```
The paper presents a robotic system design methodology based on the concept of an embodied agent decomposed into communicating subsystems, whose activities are specified in terms of FSMs invoking behaviours parameterised by transition functions and terminal conditions. In the implementation phase, this specification is transformed into a system composed of a whiteboard providing communication means and logically labelled FSMs (LLFSMs) defining the system behaviour. These concepts are used to generate the code of the robot controller. The inclusion of inter-subsystem communication model completes the resulting system design with respect to our previous work that did not account for this model. Thus communication plays a central role in this presentation. The design methodology is exemplified with a rudimentary table tennis ball-collecting robot. The presented methodology and the implementation tools are suitable and beneficial for application to the design of other robotic systems.

C. Zieliński

General Robotic System Software Design Methodology

in 15th IFToMM World Congress, June 30 – July 4, 2019, Kraków, Poland, 2019

[ BIB ]

@inproceedings{Zielinski:2019:IFToMM,
  author = {Zieliński, Cezary},
  title = {General Robotic System Software Design Methodology},
  booktitle = {15th IFToMM World Congress, June 30 – July 4, 2019, Kraków, Poland},
  year = {2019},
  note = {Zielinski}
}

D. Seredyński, T. Winiarski, and C. Zieliński
FABRIC: Framework for Agent-Based Robot Control Systems
in 12th International Workshop on Robot Motion and Control (RoMoCo), 2019, pp. 215–222
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Seredynski-fabric-romoco-2019-twiki,
  author = {Seredyński, Dawid and Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {12th International Workshop on Robot Motion and Control (RoMoCo)},
  title = {{FABRIC: Framework for Agent-Based Robot Control Systems}},
  year = {2019},
  editor = {K.~Kozłowski},
  organization = {IEEE},
  pages = {215--222},
  conference = {romoco12},
  doi = {10.1109/RoMoCo.2019.8787370},
  projects = {aal-incare},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2019/fabric.pdf}
}
```
The paper presents FABRIC, a framework and a toolchain that facilitates semi-automatic generation of agentbased control systems for robots. The presented approach combines agent-based formal specification with implementation employing component-based frameworks. The input for the generation method consists of the formal specification of the designed control system expressed in a DSL and source code encapsulated in components. Decomposition of a formal specification into a hierarchical structure of patterns and their parameters is employed. It implies a division of the specification into a number of items, produced using a DSL and source code expressed in a universal programming language. The method of generating a working agent-based system, out of its specification and selected components, is verified on a service robot that executes complex tasks, i.e. door opening.
W. Dudek, M. Węgierek, J. Karwowski, W. Szynkiewicz, and T. Winiarski
Task harmonisation for a single–task robot controller
in 12th International Workshop on Robot Motion and Control (RoMoCo), 2019, pp. 86–91
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Dudek-multitasking-romoco-2019-twiki,
  author = {Dudek, Wojciech and Węgierek, Maciej and Karwowski, Jarosław and Szynkiewicz, Wojciech and Winiarski, Tomasz},
  title = {Task harmonisation for a single--task robot controller},
  booktitle = {12th International Workshop on Robot Motion and Control (RoMoCo)},
  year = {2019},
  editor = {K.~Kozłowski},
  pages = {86--91},
  organization = {IEEE},
  conference = {romoco12},
  doi = {10.1109/RoMoCo.2019.8787385},
  projects = {aal-incare},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2019/multitasking.pdf}
}
```
The technical capabilities of robots and their increased versatility require a single robot to be able to perform a wide array of complex tasks. What more, when performing a task, it may be asked to carry out another one. Switching between different tasks is a known problem in engineering, however, robots, compared to programs operating in a virtual space, are unique as they must follow laws of physics. In this work, we introduce a method for harmonising service robot tasks being managed by finite state machines. The method allows for the handling of safe suspend and resume procedures for a complex task. Additionally, we consider a case when the robot can not switch the current task to another at any time. The method was implemented and verified by conducting multiple interruptions of one task by another one. The tasks during the verification were being performed in simulation by a TIAGo robot.

A. Wilkowski, W. Kasprzak, and M. Stefańczyk

Object detection in the police surveillance scenario

in Proceedings of the 2019 Federated Conference on Computer Science and Information Systems, 2019, vol. 18, pp. 363–372

[ BIB | DOI | URL ]

@inproceedings{FedCSIS2019291,
  author = {Wilkowski, Artur and Kasprzak, Włodzimierz and Stefańczyk, Maciej},
  pages = {363--372},
  title = {Object detection in the police surveillance scenario},
  booktitle = {Proceedings of the 2019 Federated Conference on Computer Science and Information Systems},
  year = {2019},
  editor = {Ganzha, Maria and Maciaszek, Leszek and Paprzycki, Marcin},
  publisher = {IEEE},
  doi = {10.15439/2019F291},
  url = {http://dx.doi.org/10.15439/2019F291},
  volume = {18},
  series = {Annals of Computer Science and Information Systems}
}

W. Kasprzak, W. Szynkiewicz, M. Stefańczyk, W. Dudek, M. Figat, M. Węgierek, D. Seredyński, and C. Zieliński

Agentowa struktura wielomodalnego interfejsu do Narodowej Platformy Cyberbezpieczeństwa, część 1

Pomiary Automatyka Robotyka, vol. 23, pp. 41–54, 2019

[ BIB | DOI | URL ]

@article{kasprzak2019agentowa,
  title = {Agentowa struktura wielomodalnego interfejsu do Narodowej Platformy Cyberbezpieczeństwa, część 1},
  author = {Kasprzak, Włodzimierz and Szynkiewicz, Wojciech and Stefańczyk, Maciej and Dudek, Wojciech and Figat, Maksym and Węgierek, Maciej and Seredyński, Dawid and Zieliński, Cezary},
  journal = {Pomiary Automatyka Robotyka},
  volume = {23},
  year = {2019},
  pages = {41--54},
  doi = {10.14313/PAR_233/41},
  url = {http://www.par.pl/content/download/14931/183512/file/AgentowaStrukturaWielomodalnegoInterfejsuNarodowejPlatformyCyberbezpiecze%C5%84stwaCz1.pdf}
}

W. Kasprzak, W. Szynkiewicz, M. Stefańczyk, W. Dudek, M. Figat, M. Węgierek, D. Seredyński, and C. Zieliński

Agentowa struktura wielomodalnego interfejsu do Narodowej Platformy Cyberbezpieczeństwa, część 2

Pomiary Automatyka Robotyka, vol. 23, pp. 5–18, 2019

[ BIB | DOI | URL ]

@article{kasprzak2019agentowa2,
  title = {Agentowa struktura wielomodalnego interfejsu do Narodowej Platformy Cyberbezpieczeństwa, część 2},
  author = {Kasprzak, Włodzimierz and Szynkiewicz, Wojciech and Stefańczyk, Maciej and Dudek, Wojciech and Figat, Maksym and Węgierek, Maciej and Seredyński, Dawid and Zieliński, Cezary},
  journal = {Pomiary Automatyka Robotyka},
  volume = {23},
  year = {2019},
  pages = {5--18},
  doi = {10.14313/PAR_234/5},
  url = {http://www.par.pl/content/download/14939/183623/file/AgentowaStrukturaWielomodalnegoInterfejsuNarodowej_2.pdf}
}

2018

M. Stefańczyk
Improving RGB descriptors using depth cues
in Computer Vision and Graphics, 2018, vol. 11114, pp. 251–262
[ BIB | DOI | abstract | URL ]
```
@inproceedings{stefanczyk2018improving-twiki,
  author = {Stefańczyk, Maciej},
  booktitle = {Computer Vision and Graphics},
  title = {Improving {RGB} descriptors using depth cues},
  year = {2018},
  volume = {11114},
  series = {Lecture Notes in Computer Science},
  pages = {251--262},
  publisher = {Springer International Publishing},
  doi = {10.1007/978-3-030-00692-1_22},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2018/stefanczyk2018improving.pdf},
  affiliation = {Institute of Control and Computation Engineering, Warsaw University of Technology, Nowowiejska 15/19, 00-665 Warsaw, Poland},
  twiki = {article},
  projects = {PreludiumMS}
}
```
Geometrical distortions are tackled in different way in multiple keypoint detection and feature extraction algorithms. However, those are implemented as an integral part of the solution, making it impossible to use the same distortion removal method in other solutions. To the best of authors knowledge, there are no universal methods of distortion removal, that can be used as an intermediate step, between keypoint detection and feature extraction. Creating that kind of algorithm, instead of development of yet another ‘robust descriptor’, will enable seamless integration in existing applications, and, possibly, will increase object recognition success rate, independent of the selected keypoint detector/descriptor pair.
M. Stefańczyk and W. Kasprzak
Model-Based 3D Object Recognition in RGB-D Images
in Bridging the Semantic Gap in Image and Video Analysis,
H. Kwaśnicka and L. C. Jain, Eds. Springer, 2018, pp. 73–96
[ BIB | DOI | abstract ]
```
@inbook{stefanczyk2018,
  author = {Stefańczyk, Maciej and Kasprzak, Włodzimierz},
  editor = {Kwaśnicka, Halina and Jain, Lakhmi C.},
  title = {Model-Based {3D} Object Recognition in {RGB-D} Images},
  booktitle = {{Bridging the Semantic Gap in Image and Video Analysis}},
  year = {2018},
  publisher = {Springer},
  pages = {73--96},
  isbn = {978-3-319-73891-8},
  doi = {10.1007/978-3-319-73891-8_5},
  twiki = {inbook}
}
```
A computational framework for 3D object recognition in RGB-D images is presented. The focus is on computer vision applications in indoor autonomous robotics, where objects need to be recognized either for the purpose of being grasped and manipulated by the robot, or where the entire scene must be recognized to allow high-level cognitive tasks to be performed. The framework integrates solutions for generic (i.e. type-based) object representation (e.g. semantic networks), trainable transformations between abstraction levels (e.g. by neural networks), reasoning under uncertain and partial data (e.g. Dynamic Bayesian Networks, Fuzzy Logic), optimized model-to-data matching (e.g. constraint optimization problems) and efficient search strategies (switching between data- and model-driven inference steps). The computational implementation of the object model and the object recognition strategy is presented in more details. Testing scenarios deal with the recognition of cups and bottles or household furniture. Conducted experiments and the chosen applications confirmed, that this approach is valid and may easily be adapted to multiple scenarios.
C. Zieliński, M. Figat, and R. Hexel
Robotic Systems Implementation Based on FSMs
in Automation 2018, Cham, 2018, pp. 441–452
[ BIB | DOI | abstract | URL ]
```
@inproceedings{multi-fsm-aut-18-twiki,
  author = {Zieliński, Cezary and Figat, Maksym and Hexel, Ren{\'e}},
  title = {Robotic Systems Implementation Based on FSMs},
  booktitle = {Automation 2018},
  year = {2018},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  pages = {441--452},
  address = {Cham},
  publisher = {Springer International Publishing},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2018/multi_fsm_implementation.pdf},
  doi = {10.1007/978-3-319-77179-3_41},
  isbn = {978-3-319-77179-3},
  twiki = {article},
  note = {Zielinski}
}
```
This paper presents a robotic system development methodology, starting with the creation of a system model and ending with its implementation. Our methodology is based on the concept of an embodied agent, which is decomposed into subsystems. The activities of those subsystems are described in terms of FSMs which invoke behaviours parameterised by transition functions, taking as arguments the contents of subsystem input buffers and their internal memory. Those theoretical concepts are transformed into implementation concepts such as: hierarchical LLFSMs, scheduler, and whiteboard. The proposed design methodology is illustrated on a table-tennis ball collecting robot. Moreover, the evaluation of the performance of the resulting system is presented.
T. Winiarski and M. Węgierek
Wykorzystanie SysML do opisu agenta upostaciowionego
in XV Krajowa Konferencja Robotyki – Postępy robotyki, 2018, vol. 1, pp. 407–416
[ BIB | abstract | URL ]
```
@inproceedings{kkr15_sysml-twiki,
  author = {Winiarski, Tomasz and Węgierek, Maciej},
  booktitle = {XV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Wykorzystanie SysML do opisu agenta upostaciowionego}},
  year = {2018},
  pages = {407--416},
  volume = {1},
  conference = {kkr15},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2018/metodyka.pdf}
}
```
Jednym z podejść do specyfikacji sterowników robotów jest teoria agenta upostaciowionego zakładająca podział systemu robotycznego na grupę komunikujących się ze sobą agentów. Każdy agent złożony jest z podsystemów, których działanie opisuje się przy pomocy funkcji przejść. W artykule został zaproponowany nowy sposób dekompozycji funkcji przejścia podsystemu agenta upostaciowionego. W odróżnieniu od dotychczasowego podejścia koncentrującego się na podziale funkcji ze względu na produkowane wyjścia, autorzy dokonują podziału ze względu na cel prowadzonych obliczeń. To podejście umożliwia scalenie powtarzających się elementów specyfikacji, przez co opis staje się krótszy i prostszy. Artykuł stanowi też próbę zestawienia poszczególnych elementów wchodzących w skład agenta upostaciowionego z metodami ich opisu bazującymi na standardzie SysML.
T. Winiarski and D. Seredyński
Wizualizacja sterowników robotów bazujących na teorii agenta upostaciowionego
in XV Krajowa Konferencja Robotyki – Postępy robotyki, 2018, vol. 1, pp. 417–426
[ BIB | abstract | URL ]
```
@inproceedings{kkr15_wizualizacja-agenta-twiki,
  author = {Winiarski, Tomasz and Seredyński, Dawid},
  booktitle = {XV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Wizualizacja sterowników robotów bazujących na teorii agenta upostaciowionego}},
  year = {2018},
  pages = {417--426},
  volume = {1},
  conference = {kkr15},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2018/wizualizacja-agenta-kkr15.pdf}
}
```
Wyzwania współczesnej robotyki wymagają sprawnego prowadzenia badań, szybkiego tworzenia nowych sterowników oraz łatwości diagnostyki i rozbudowy tych już istniejących. Chociaż opracowano już uniwersalne, bazujące na teorii agenta upostaciowionego metody opisu sterowników robotów, nadal brakuje zunifikowanego podejścia do ich implementacji, które odpowiada tejże specyfikacji. W niniejszym artykule podjęto się tego problemu, kładąc szczególny nacisk na wizualizację sterownika agentowego. Podejście zastosowano dla popularnego obecnie oprogramowania otwartokodowego ROS/Orocos.
T. Winiarski, M. Bogusz, D. Giełdowski, and K. Foryszewski
Miniaturowy robot mobilny o zmiennym sposobie lokomocji MiniRyś
in XV Krajowa Konferencja Robotyki – Postępy robotyki, 2018, vol. 1, pp. 251–260
[ BIB | abstract | URL ]
```
@inproceedings{kkr15_minirys-twiki,
  author = {Winiarski, Tomasz and Bogusz, Maciej and Giełdowski, Daniel and Foryszewski, Kamil},
  booktitle = {XV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Miniaturowy robot mobilny o~zmiennym sposobie lokomocji MiniRyś}},
  year = {2018},
  pages = {251--260},
  volume = {1},
  conference = {kkr15},
  lang = {pl},
  twiki = {inbook},
  robots = {minirys},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2018/minirys-kkr15.pdf}
}
```
W artykule zaprezentowano miniaturowego robota mobilnego MiniRyś. Robot ma napęd różnicowy i z założenia może poruszać się w dwóch trybach: poziomym, gdzie zderzak stanowi trzeci punkt podparcia i pionowym, balansując. Robot, pomimo małych rozmiarów wymuszonych przez operowanie w środowisku składającym się z kwadratowych pól o boku 20 cm, wyposażony jest w rozbudowany zestaw czujników i wydajny komputer pozwalające na samodzielne nawigowanie i komunikację w ramach zespołu robotów.
W. Dudek and W. Szynkiewicz
Cyberbezpieczeństwo robotów – nowe wyzwania dla zabezpieczeń systemów cyber-fizycznych
in XV Krajowa Konferencja Robotyki – Postępy robotyki, 2018, vol. 1, pp. 107–118
[ BIB | abstract | URL ]
```
@inproceedings{kkr15_cyberbezpieczenstwo-twiki,
  author = {Dudek, Wojciech and Szynkiewicz, Wojciech},
  booktitle = {XV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Cyberbezpieczeństwo robotów – nowe wyzwania dla zabezpieczeń systemów cyber-fizycznych}},
  year = {2018},
  pages = {107--118},
  volume = {1},
  conference = {kkr15},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2018/dudek_ceberbezp_kkr2018.pdf}
}
```
W pracy przedstawiono problematykę cyberbezpieczeństwa systemów robotycznych zaliczanych do szerszej klasy systemów cyber-fizycznych. Omówiono aktualne i potencjalne zagrożenia dla systemów cyber-fizycznych wynikające z cyberataków będących działaniami nieuprawiononymi, metody wykrywania tych ataków oraz ochrony lub redukcji skutków ich działania. Wyróżniono specyficzne dla systemów cyber-fizycznych rodzaje zagrożeń odróżniające je od systemów teleinformatycznych. Na podstawie analizy literatury dotyczącej cyberbezpieczeństwa systemów robotycznych wskazano otwarte problemy badawcze, które wymagają rozwiązania.
M. Stefańczyk
Wykorzystanie informacji o głębi w celu poprawy jakości deskryptorów RGB
in XV Krajowa Konferencja Robotyki – Postępy robotyki, 2018, vol. 1, p. xx
[ BIB | abstract | URL ]
```
@inproceedings{stefanczyk18wykorzystanie-twiki,
  author = {Stefańczyk, Maciej},
  booktitle = {XV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Wykorzystanie informacji o głębi w celu poprawy jakości deskryptorów RGB}},
  year = {2018},
  pages = {xx},
  volume = {1},
  conference = {kkr15},
  projects = {PreludiumMS},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2018/stefanczyk2018wykorzystanie.pdf}
}
```
Problem zniekształceń geometrycznych obrazu jest rozwiązywany mniej lub bardziej skutecznie w istniejących detektorach i deskryptorach punktów kluczowych. Rozwiązania te są jednak zaszyte jako integralna część algorytmów, często uniemożliwiając ich wykorzystanie w innych zastosowaniach. Analiza literatury i dotychczasowych rozwiązań pozwala stwierdzić, że nie stworzono do tej pory rozwiązania, które mogłoby być uniwersalne i stosowane jako krok pośredni korekcji, pomiędzy detekcją punktów kluczowych a obliczeniem ich deskryptorów. Stworzenie tego typu algorytmu, w przeciwieństwie do kolejnego, ,,jeszcze lepszego” deskryptora, pozwoli na łatwą integrację w istniejących zastosowaniach, niezależnie od wybranego zestawu detektor/deskryptor.

M. Figat and C. Zieliński

Model agenta upostaciowionego bazujący na hierarchicznej sieci Petriego

XV Krajowa Konferencja Robotyki - Postępy robotyki, vol. 196, pp. 395–406, 2018

[ BIB ]

@article{Figat:kkr2018,
  author = {Figat, Maksym and Zieliński, Cezary},
  booktitle = {XV Krajowa Konferencja Robotyki - Postępy robotyki},
  title = {Model agenta upostaciowionego bazujący na hierarchicznej sieci Petriego},
  year = {2018},
  editor = {Tchoń, Krzysztof and Zieliński, Cezary},
  volume = {196},
  series = {Prace Naukowe – Elektronika},
  pages = {395-406},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  conference = {kkr18},
  lang = {pl},
  location = {Polanica Zdrój, 5--9 September 2018},
  twiki = {inbook},
  note = {Embodied Agent Model Based on a Hierarchical Petri Net (in Polish) - Zielinski}
}

C. Zieliński

Architektury systemów robotycznych tworzone z agentów upostaciowionych

XV Krajowa Konferencja Robotyki - Postępy robotyki, vol. 196, pp. 379–394, 2018

[ BIB ]

@article{Zielinski:kkr2018,
  author = {Zieliński, Cezary},
  booktitle = {XV Krajowa Konferencja Robotyki - Postępy robotyki},
  title = {Architektury systemów robotycznych tworzone z agentów upostaciowionych},
  year = {2018},
  editor = {Tchoń, Krzysztof and Zieliński, Cezary},
  volume = {196},
  series = {Prace Naukowe – Elektronika},
  pages = {379-394},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  conference = {kkr18},
  lang = {pl},
  location = {Polanica Zdrój, 5--9 September 2018},
  twiki = {inbook},
  note = {Robotic System Architectures Based on Embodied Agents (in Polish) - Zielinski}
}

2017

W. Dudek, W. Szynkiewicz, and T. Winiarski
Cloud computing support for the multi-agent robot navigation system
Journal of Automation Mobile Robotics and Intelligent Systems, vol. 11, no. 2, pp. 67–74, 2017
[ BIB | DOI | abstract | URL ]
```
@article{dudek:2017-jamris-cloud-computing-twiki,
  author = {Dudek, Wojciech and Szynkiewicz, Wojciech and Winiarski, Tomasz},
  title = {Cloud computing support for the multi-agent robot navigation system},
  journal = {Journal of Automation Mobile Robotics and Intelligent Systems},
  year = {2017},
  volume = {11},
  number = {2},
  pages = {67--74},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2017/wd-jamris-cloud-computing-support-rapp.pdf},
  doi = {10.14313/JAMRIS_2-2017/18},
  projects = {RAPP},
  twiki = {journal}
}
```
This paper presents a naviga on system structure for mobile service robots in the agent-based distributed architecture. The proposed naviga on system is a part of the RAPP framework. The RAPP framework is an open-source software platform to support the crea on and delivery of robotic applications, which are expected to increase the versatility and utility of robots. All key navigation tasks are defined and divided into separate components. The proper allocation of navigation components, in the four agent structure of the RAPP infrastructure, enables high demanding computations offloading and was the main goal of this work. Navigation system components were implemented using ROS framework. Experimental results for the NAO robot executing risks detec on task proved the validity of the proposed approach.
B. Kozakiewicz and T. Winiarski
Klasyfikacja stawów o zmiennej podatności mechanicznej - część pierwsza
Pomiary – Automatyka – Robotyka PAR, vol. 21, no. 1, pp. 41–50, 2017
[ BIB | DOI | abstract | URL ]
```
@article{bkozakiewicz-vsa-p1-par-17-twiki,
  author = {Kozakiewicz, Bartłomiej and Winiarski, Tomasz},
  journal = {Pomiary -- Automatyka -- Robotyka PAR},
  title = {{Klasyfikacja stawów o zmiennej podatności mechanicznej - część pierwsza}},
  year = {2017},
  number = {1},
  pages = {41-50},
  volume = {21},
  doi = {10.14313/PAR_223/41},
  twiki = {journal},
  robots = {attractor},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2017/vsa-p1.pdf}
}
```
Rola stawów podatnych mechanicznie – w szczególności stawów o zmiennej podatności mechanicznej – w dziedzinie współczesnej robotyki – zwłaszcza społecznej i mobilnej – staje się coraz bardziej znacząca. Powodem są liczne korzyści płynące ze stosowania mechanizmów tego typu. Do tej pory opracowano wiele różnych metod osiągania podatności stawów i możliwości jej regulacji. W niniejszym opracowaniu podjęto próbę usystematyzowania zbioru istniejących rozwiązań. Przedstawiono w nim propozycję klasyfikacji stawów o zmiennej podatności mechanicznej oraz omówiono niektóre typy konstrukcji – mechanizmy sztywne z podatnością osiąganą poprzez sterowanie, mechanizmy podatne z regulacją podatności osiąganą poprzez sterowanie oraz mechanizmy wykorzystujące zmianę napięcia wstępnego nieliniowych elementów podatnych. Na koniec podsumowano i porównano cechy omówionych konstrukcji. Opis pozostałych typów stawów podatnych stanowi treść drugiej części artykułu.

T. Kornuta and M. Łępicka

Rejestracja chmur punktów: komponenty systemu

Pomiary – Automatyka – Robotyka PAR, vol. 21, no. 1, pp. 19–24, 2017

[ BIB | DOI ]

@article{lepicka2017rejestracja-1,
  author = {Kornuta, Tomasz and Łępicka, Marta},
  journal = {Pomiary -- Automatyka -- Robotyka PAR},
  title = {{Rejestracja chmur punktów: komponenty systemu}},
  year = {2017},
  number = {1},
  pages = {19-24},
  volume = {21},
  doi = {10.14313/PAR_223/19},
  twiki = {journal}
}

M. Łępicja and T. Kornuta

Rejestracja chmur punktów: porównanie wariantów wzajemnej rejestracji

Pomiary – Automatyka – Robotyka PAR, vol. 21, no. 2, pp. 5–14, 2017

[ BIB | DOI ]

@article{lepicka2017rejestracja-2,
  author = {Łępicja, Marta and Kornuta, Tomasz},
  journal = {Pomiary -- Automatyka -- Robotyka PAR},
  title = {{Rejestracja chmur punktów: porównanie wariantów wzajemnej rejestracji}},
  year = {2017},
  number = {2},
  pages = {5-14},
  volume = {21},
  doi = {10.14313/PAR_224/5},
  twiki = {journal}
}

T. Kornuta and M. Stefańczyk

MODREG: a modular framework for RGB-D image acquisition and 3D object model registration

Foundations of Computing and Decision Sciences, vol. 42, no. 3, pp. 183–201, 2017

[ BIB | DOI ]

@article{kornuta2017modreg,
  author = {Kornuta, Tomasz and Stefańczyk, Maciej},
  journal = {Foundations of Computing and Decision Sciences},
  title = {{MODREG: a modular framework for RGB-D image acquisition and 3D object model registration}},
  year = {2017},
  number = {3},
  pages = {183-201},
  volume = {42},
  doi = {10.1515/fcds-2017-0009},
  twiki = {journal}
}

C. Zieliński, M. Stefańczyk, T. Kornuta, M. Figat, W. Dudek, W. Szynkiewicz, W. Kasprzak, J. Figat, M. Szlenk, T. Winiarski, K. Banachowicz, T. Zielińska, E. G. Tsardoulias, A. L. Symeonidis, F. E. Psomopoulos, A. M. Kintsakis, P. A. Mitkas, A. Thallas, S. E. Reppou, G. T. Karagiannis, K. Panayiotou, V. Prunet, M. Serrano, J.-P. Merlet, S. Arampatzis, A. Giokas, L. Penteridis, I. Trochidis, D. Daney, and M. Iturburu
Variable structure robot control systems: The RAPP approach
Robotics and Autonomous Systems, vol. 94, pp. 226–244, 2017
[ BIB | DOI | abstract | URL ]
```
@article{zielinski2017variable-twiki,
  author = {Zieliński, Cezary and Stefańczyk, Maciej and Kornuta, Tomasz and Figat, Maksym and Dudek, Wojciech and Szynkiewicz, Wojciech and Kasprzak, Włodzimierz and Figat, Jan and Szlenk, Marcin and Winiarski, Tomasz and Banachowicz, Konrad and Zielińska, Teresa and Tsardoulias, Emmanouil G. and Symeonidis, Andreas L. and Psomopoulos, Fotis E. and Kintsakis, Athanassios M. and Mitkas, Pericles A. and Thallas, Aristeidis and Reppou, Sofia E. and Karagiannis, George T. and Panayiotou, Konstantinos and Prunet, Vincent and Serrano, Manuel and Merlet, Jean-Pierre and Arampatzis, Stratos and Giokas, Alexandros and Penteridis, Lazaros and Trochidis, Ilias and Daney, David and Iturburu, Miren},
  title = {Variable structure robot control systems: The RAPP approach},
  journal = {Robotics and Autonomous Systems},
  year = {2017},
  volume = {94},
  pages = {226 - 244},
  issn = {0921-8890},
  doi = {10.1016/j.robot.2017.05.002},
  projects = {fp7rapp},
  publisher = {Elsevier},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2017/rapp-ras.pdf},
  note = {Zielinski}
}
```
This paper presents a method of designing variable structure control systems for robots. As the on-board robot computational resources are limited, but in some cases the demands imposed on the robot by the user are virtually limitless, the solution is to produce a variable structure system. The task dependent part has to be exchanged, however the task governs the activities of the robot. Thus not only exchange of some task-dependent modules is required, but also supervisory responsibilities have to be switched. Such control systems are necessary in the case of robot companions, where the owner of the robot may demand from it to provide many services.
B. Kozakiewicz and T. Winiarski
Klasyfikacja stawów o zmiennej podatności mechanicznej - część druga
Pomiary – Automatyka – Robotyka PAR, vol. 21, no. 2, pp. 15–23, 2017
[ BIB | DOI | abstract | URL ]
```
@article{bkozakiewicz-vsa-p2-par-17-twiki,
  author = {Kozakiewicz, Bartłomiej and Winiarski, Tomasz},
  journal = {Pomiary -- Automatyka -- Robotyka PAR},
  title = {{Klasyfikacja stawów o zmiennej podatności mechanicznej - część druga}},
  year = {2017},
  number = {2},
  pages = {15--23},
  volume = {21},
  doi = {10.14313/PAR_224/15},
  twiki = {journal},
  robots = {attractor},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2017/vsa-p2.pdf}
}
```
Coraz częściej konstruktorzy robotów – w szczególności społecznych i mobilnych – wykorzystują w swoich projektach stawy podatne mechanicznie – w tym stawy o zmiennej podatności mechanicznej. Wobec rosnącego znaczenia tego typu konstrukcji oraz mnogości istniejących rozwiązań zachodzi potrzeba uporządkowania dotychczasowych osiągnięć w omawianej dziedzinie. Zadania tego podjęto się w pierwszej części artykułu. W części drugiej przypomniano klasyfikację stawów o zmiennej podatności mechanicznej zaproponowaną w części pierwszej oraz omówiono typy mechanizmów nieopisane w poprzedniej części: mechanizmy wykorzystujące zmianę parametrów układu transmisyjnego oraz mechanizmy bazujące na możliwości modyfikowania właściwości sprężyn różnego typu. W podsumowaniu zestawiono i porównano cechy konstrukcji z obu kategorii i odpowiadających im podkategorii.

C. Zieliński, T. Winiarski, and T. Kornuta

Agent-Based Structures of Robot Systems

in Trends in Advanced Intelligent Control, Optimization and Automation, 2017, vol. 577, pp. 493–502

[ BIB | DOI | URL ]

@inproceedings{zielinski-kka:2017-twiki,
  author = {Zieliński, Cezary and Winiarski, Tomasz and Kornuta, Tomasz},
  title = {Agent-Based Structures of Robot Systems},
  booktitle = {Trends in Advanced Intelligent Control, Optimization and Automation},
  year = {2017},
  editor = {J., Kacprzyk and et al.},
  volume = {577},
  series = {Advances in Intelligent Systems and Computing},
  pages = {493--502},
  doi = {10.1007/978-3-319-60699-6\_48},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2017/17-rss-kka.pdf},
  note = {Zielinski}
}

M. Figat, C. Zieliński, and R. Hexel
FSM based specification of robot control system activities
in Robot Motion and Control (RoMoCo), 2017 11th International Workshop on, 2017, pp. 193–198
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Figat:2017_RoMoCo_short-twiki,
  author = {Figat, Maksym and Zieliński, Cezary and Hexel, Ren{\'e}},
  title = {FSM based specification of robot control system activities},
  booktitle = {Robot Motion and Control (RoMoCo), 2017 11th International Workshop on},
  year = {2017},
  pages = {193--198},
  organization = {IEEE},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2017/fsm.pdf},
  conference = {romoco17},
  doi = {10.1109/RoMoCo.2017.8003912},
  twiki = {article},
  note = {Zielinski}
}
```
The paper presents a robot control system design method based on hierarchical Finite State Machines (FSMs). The system is decomposed into subsystems. Each one of them is specified in terms of a hierarchical FSM. Previously the description of subsystem activities had been presented as a single, complex FSM, where with each of its states a behaviour was associated. Each behaviour was described by a flowchart. In this proposal behaviours are defined in terms of individual FSMs, resulting in a unified description using only the concept of an FSM. By using FSM specification tools that provide automatic code generation, the robot control system implementation is significantly accelerated. This approach has been verified through the design of a table-tennis ball collecting robot.

W. Dudek

Młodzi Innowacyjni 2017. Innowacyjne rozwiązania w obszarze automatyki, robotyki i pomiarów

J. Kacprzyk, Ed. Przemysłowy Instytut Automatyki i Pomiarów PIAP, 2017, pp. 39–49

[ BIB | URL ]

@inbook{dudek:2017_mi,
  chapter = {Navigation and visualization system for Nao mobile robot},
  pages = {39--49},
  title = {Młodzi Innowacyjni 2017. Innowacyjne rozwiązania w obszarze automatyki, robotyki i pomiarów},
  publisher = {Przemysłowy Instytut Automatyki i Pomiarów PIAP},
  year = {2017},
  author = {Dudek, Wojciech},
  editor = {Kacprzyk, Janusz},
  note = {Budowa systemu nawigacji i wizualizacji środowiska robota mobilnego NAO},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2017/monografia-mi-wojciech-dudek.pdf}
}

K. Sagar, L. de Leonardo, R. Molfino, T. Zielińska, C. Zieliński, D. Zlatanov, and M. Zoppi
The SwarmItFix Pilot
Procedia Manufacturing, vol. 11, pp. 413–422, 2017
[ BIB | DOI | abstract | URL ]
```
@article{Sagar:2017,
  title = {The SwarmItFix Pilot},
  journal = {Procedia Manufacturing},
  volume = {11},
  pages = {413 - 422},
  year = {2017},
  issn = {2351-9789},
  doi = {https://doi.org/10.1016/j.promfg.2017.07.128},
  url = {http://www.sciencedirect.com/science/article/pii/S2351978917303323},
  author = {Sagar, Keerthi and de Leonardo, Luis and Molfino, Rezia and Zielińska, Teresa and Zieliński, Cezary and Zlatanov, Dimiter and Zoppi, Matteo},
  keywords = {Flexible Automation, Manufacturing, Reconfigurable Fixtures, Multi-Agent systems},
  note = {27th International Conference on Flexible Automation and Intelligent Manufacturing, FAIM2017, 27-30 June 2017, Modena, Italy - Zielinski}
}
```
The paper presents the integration and experiments with a pilot cell including a traditional machine tool and an innovative robot-swarm cooperative conformable support for aircraft body panels. The pilot was installed and tested in the premises of the aircraft manufacturer Piaggio Aerospace in Italy. An original approach to the support of the panels is realized: robots with soft heads operate from below the panel; they move upward the panel where manufacturing is performed, removing the sagging under gravity and returning it to its nominal geometry; the spindle of amilling machine performs the machining from above.
E. G. Tsardoulias, A. M. Kintsakis, K. Panayiotou, A. G. Thallas, S. E. Reppou, G. G. Karagiannis, M. Iturburu, S. Arampatzis, C. Zieliński, V. Prunet, F. E. Psomopoulos, A. L. Symeonidis, and P. A. Mitkas
Towards an integrated robotics architecture for social inclusion – The RAPP paradigm
Cognitive Systems Research, vol. 43, pp. 157–173, 2017
[ BIB | DOI | abstract | URL ]
```
@article{Tsardoulias:2017,
  title = {Towards an integrated robotics architecture for social inclusion – The RAPP paradigm},
  journal = {Cognitive Systems Research},
  volume = {43},
  pages = {157 - 173},
  year = {2017},
  issn = {1389-0417},
  doi = {https://doi.org/10.1016/j.cogsys.2016.08.004},
  url = {http://www.sciencedirect.com/science/article/pii/S1389041716300535},
  author = {Tsardoulias, Emmanouil G. and Kintsakis, Athanassios M. and Panayiotou, Konstantinos and Thallas, Aristeidis G. and Reppou, Sofia E. and Karagiannis, George G. and Iturburu, Miren and Arampatzis, Stratos and Zieliński, Cezary and Prunet, Vincent and Psomopoulos, Fotis E. and Symeonidis, Andreas L. and Mitkas, Pericles A.},
  keywords = {Robotic applications, Cloud robotics, Robotic architectures, Assistance robotics, Social robotics},
  note = {Zielinski}
}
```
Scientific breakthroughs have led to an increase in life expectancy, to the point where senior citizens comprise an ever increasing percentage of the general population. In this direction, the EU funded RAPP project “Robotic Applications for Delivering Smart User Empowering Applications” introduces socially interactive robots that will not only physically assist, but also serve as a companion to senior citizens. The proposed RAPP framework has been designed aiming towards a cloud-based integrated approach that enables robotic devices to seamlessly deploy robotic applications, relieving the actual robots from computational burdens. The Robotic Applications (RApps) developed according to the RAPP paradigm will empower consumer social robots, allowing them to adapt to versatile situations and materialize complex behaviors and scenarios. The RAPP pilot cases involve the development of RApps for the NAO humanoid robot and the ANG-MED rollator targeting senior citizens that (a) are technology illiterate, (b) have been diagnosed with mild cognitive impairment or (c) are in the process of hip fracture rehabilitation. Initial results establish the robustness of RAPP in addressing the needs of end users and developers, as well as its contribution in significantly increasing the quality of life of senior citizens.

2016

W. Dudek, W. Szynkiewicz, and T. Winiarski
Nao Robot Navigation System Structure Development in an Agent-Based Architecture of the RAPP Platform
in Recent Advances in Automation, Robotics and Measuring Techniques, 2016, vol. 440, pp. 623–633
[ BIB | DOI | abstract | URL ]
```
@inproceedings{dudek:2016-automation-twiki,
  author = {Dudek, Wojciech and Szynkiewicz, Wojciech and Winiarski, Tomasz},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  title = {{Nao Robot Navigation System Structure Development in an Agent-Based Architecture of the RAPP Platform}},
  year = {2016},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  note = {Zielinski},
  pages = {623-633},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  volume = {440},
  crossref = {a},
  doi = {10.1007/978-3-319-29357-8_54},
  projects = {fp7rapp},
  owner = {tkornut},
  timestamp = {2015.10.30},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/nao_automation_struktura.pdf}
}
```
This paper focuses on development of a navigation system structure for the Nao humanoid robot in an agent-oriented distributed architecture. The proposed navigation system is a part of RAPP framework, a cloud robotics platform. The RAPP framework is an open-source software platform to support the creation and delivery of robotic applications, which are expected to increase the versatility and utility of robots. All navigation tasks are defined and divided into separate components. Our robot navigation system consists of a relative localisation based on Extended Kalman Filter (EKF) using both IMU and odometry measurements, visual QR-code based global localization, path planning, and motion control components. The proper allocation of navigation components, in the four-agent structure of the RAPP platform, is the main goal of this work. Navigation system components are implemented using Robot Operating System and Nao robot programming framework – NAOqi. Experimental results for the Nao robot are presented to show the validity of the proposed approach.

J. Figat and W. Kasprzak

Incremental Version Space Merging Approach to 3D Object Model Acquisition for Robot Vision

in Recent Advances in Automation, Robotics and Measuring Techniques, 2016, vol. 440, pp. 561–571

[ BIB | DOI | URL ]

@inproceedings{figat:automation-2016-twiki,
  author = {Figat, Jan and Kasprzak, Włodzimierz},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  title = {{Incremental Version Space Merging Approach to 3D Object Model Acquisition for Robot Vision}},
  year = {2016},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  pages = {561-571},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  volume = {440},
  doi = {10.1007/978-3-319-29357-8_49},
  projects = {GrantRobREx},
  owner = {tkornut},
  timestamp = {2015.10.30},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/automation-incremental-version-space-merging.pdf}
}

M. Figat and C. Zieliński
Metoda specyfikacji robota-kompana
in XIV Krajowa Konferencja Robotyki – Postępy robotyki, 2016, vol. 1, pp. 39–50
[ BIB | abstract | URL ]
```
@inproceedings{kkr14_formalna_specyfikacja-twiki,
  author = {Figat, Maksym and Zieliński, Cezary},
  booktitle = {XIV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Metoda specyfikacji robota-kompana}},
  year = {2016},
  note = {Zielinski},
  pages = {39--50},
  volume = {1},
  conference = {kkr14},
  projects = {fp7rapp},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/kkr14_formalna_specyfikacja.pdf}
}
```
Z prognoz dotyczących procesów demograficznych wynika, iż ludzi starych, potrzebujących opieki, będzie przybywać w stosunku do aktywnej siły roboczej. Problem opieki może być złagodzony za pomocą robotów kompanów. Układy sterowania tego typu robotów są bardzo złożone. Potrzeba więc odpowiednich narzędzi projektowych, aby je tworzyć. Tutaj przedstawiono procedurę tworzenia formalnej specyfikacji układów sterowania takich robotów.
W. Dudek, W. Szynkiewicz, and T. Winiarski
Wieloagentowy system nawigacji robotów usługowych wspomagany chmurą obliczeniową
in XIV Krajowa Konferencja Robotyki – Postępy robotyki, 2016, vol. 1, pp. 245–254
[ BIB | abstract | URL ]
```
@inproceedings{kkr14_nao_nawigacja-twiki,
  author = {Dudek, Wojciech and Szynkiewicz, Wojciech and Winiarski, Tomasz},
  booktitle = {XIV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Wieloagentowy system nawigacji robotów usługowych wspomagany chmurą obliczeniową}},
  year = {2016},
  pages = {245--254},
  volume = {1},
  conference = {kkr14},
  projects = {fp7rapp},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/kkr14_nao_nawigacja.pdf}
}
```
W artykule przedstawiono strukturę rozproszonego systemu nawigacji mobilnych robotów usługowych. System nawigacji jest elementem układu sterowania zaprojektowanego zgodnie z teorią agenta upostaciowionego. Opisano komponenty realizujące usługi nawigacyjne oraz ich rozmieszczenie w wieloagentowej strukturze układu sterowania. Dzięki wykorzystaniu chmury obliczeniowej możliwa jest realizacja złożonych algorytmów lokalizacji robota oraz planowania ścieżki. Proponowany system umożliwia chmurze obliczeniowej jednoczesną obsługę wielu robotów. Złożone usługi mogą być realizowane przez kilka komponentów rozproszonych w różnych agentach systemu. Dzięki temu możliwy jest dobór algorytmów lub całych usług w zależności zarówno od typu robota, jak i od czujników w jakie jest on wyposażony. Działanie systemu zweryfikowano w zadaniu wykrywania zdarzeń w otoczeniu przy użyciu robota NAO.
K. Banachowicz, D. Seredyński, and T. Winiarski
Trójosiowy pomiar siły kontaktu w paliczkach chwytaka robota manipulacyjnego
in XIV Krajowa Konferencja Robotyki – Postępy robotyki, 2016, vol. 2, pp. 335–344
[ BIB | abstract | URL ]
```
@inproceedings{kkr14_paliczki_irp-twiki,
  author = {Banachowicz, Konrad and Seredyński, Dawid and Winiarski, Tomasz},
  booktitle = {XIV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Trójosiowy pomiar siły kontaktu w~paliczkach chwytaka robota manipulacyjnego}},
  year = {2016},
  pages = {335--344},
  volume = {2},
  conference = {kkr14},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/kkr14_paliczki_irp.pdf}
}
```
Czujniki umieszczone w palcach chwytaków są istotną częścią systemów sterowania robotami usługowymi. Pozwalają one na pomiar sił działających pomiędzy robotem a środowiskiem, w pobliżu miejsca ich zamontowania. Jednak ze względu na charakter swojej pracy, takie systemy czujnikowe narażone są na przeciążenia i uszkodzenie. Niniejszy artykuł koncentruje się na metodzie zabezpieczenia podatnych czujników siły w paliczkach chwytaka. Przedstawiono projekt konstrukcji mechanicznej specjalnego jarzma ograniczającego deformację czujnika pod wpływem wywieranej nań siły.
D. Seredyński, K. Banachowicz, and T. Winiarski
Metody pomiaru siły kontaktu w trójpalczastym chwytaku BarretHand
in XIV Krajowa Konferencja Robotyki – Postępy robotyki, 2016, vol. 2, pp. 345–354
[ BIB | abstract | URL ]
```
@inproceedings{kkr14_pomiar_sil_barrett-twiki,
  author = {Seredyński, Dawid and Banachowicz, Konrad and Winiarski, Tomasz},
  booktitle = {XIV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Metody pomiaru siły kontaktu w~trójpalczastym chwytaku BarretHand}},
  year = {2016},
  pages = {345--354},
  volume = {2},
  conference = {kkr14},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/kkr14_pomiar_sil_barrett.pdf}
}
```
Pomiar sił kontaktu pomiędzy robotem a otoczeniem ma kluczowe znaczenie w robotyce usługowej podczas wykonywania zadań zręcznej manipulacji. W ostatnich latach rozwój technologii pozwala na stosowanie coraz mniejszych czujników, które są montowane na członach chwytaków. Różnorodność metod pomiaru oraz rodzaju pozyskanych danych sprawia, iż wybór właściwych czujników dla konkretnego robota jest trudny. Niniejszy artykuł prezentuje przegląd literatury w zakresie czujników siły stosowanych w chwytakach oraz przedstawia szczegółowy opis dwóch zestawów czujników dla chwytaka BarrettHand. Opis wzbogacony jest o wyniki eksperymentów dla obu zestawów w zadaniu chwytania.
C. Zieliński, W. Szynkiewicz, W. Kasprzak, M. Stefańczyk, M. Figat, W. Dudek, J. Figat, M. Szlenk, and T. Zielińska
Sterowniki o zmiennej strukturze w zastosowaniu do robotów społecznych
in XIV Krajowa Konferencja Robotyki – Postępy robotyki, 2016, vol. 1, pp. 5–14
[ BIB | abstract | URL ]
```
@inproceedings{kkr14_rapp-twiki,
  author = {Zieliński, Cezary and Szynkiewicz, Wojciech and Kasprzak, Włodzimierz and Stefańczyk, Maciej and Figat, Maksym and Dudek, Wojciech and Figat, Jan and Szlenk, Marcin and Zielińska, Teresa},
  booktitle = {XIV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Sterowniki o~zmiennej strukturze w~zastosowaniu do robotów społecznych}},
  year = {2016},
  note = {Zielinski},
  pages = {5--14},
  volume = {1},
  conference = {kkr14},
  projects = {fp7rapp},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/kkr14_rapp.pdf}
}
```
Roboty społeczne współdziałają z ludźmi, a ci mogą wymagać bardzo różnorodnych usług. Trudno sobie wyobrazić pokładowy sterownik robota autonomicznego, który byłby w stanie podołać każdemu zleceniu. Sterownik pokładowy, dysponujący ograniczonymi zasobami, musi więc mieć strukturę rekonfigurowalną, umożliwiającą wymianę części oprogramowania -– w zależności od zleconego zadania. W takich systemach dodatkowe oprogramowanie pobierane jest z chmury obliczeniowej i to ono przejmuje nadzór nad robotem na czas wykonania zadania, a więc w tym przypadku nie tylko następuje wymiana oprogramowania, ale również zamiana ról –- sterownik nadrzędny staje się podrzędnym. Artykuł przedstawia zarówno ogólny sposób specyfikacji sterowników, jak i realizację przykładowego zadania.
B. Świstak and T. Winiarski
Sterowanie pozycyjno–impedancyjne zmodyfikowanym przemysłowym manipulatorem IRp6 – część druga, sterowanie momentem zespołu napędowego z kompensacją sił tarcia
in XIV Krajowa Konferencja Robotyki – Postępy robotyki, 2016, vol. 1, pp. 71–80
[ BIB | abstract | URL ]
```
@inproceedings{kkr14_si_regulator_momentu-twiki,
  author = {Świstak, Bartosz and Winiarski, Tomasz},
  booktitle = {XIV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Sterowanie pozycyjno--impedancyjne zmodyfikowanym przemysłowym manipulatorem IRp6 -- część druga, sterowanie momentem zespołu napędowego z~kompensacją sił tarcia}},
  year = {2016},
  pages = {71--80},
  volume = {1},
  conference = {kkr14},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/kkr14_si_regulator_momentu.pdf}
}
```
W artykule przedstawiono zunifikowany, pozycyjno-impedancyjny sposób sterowania manipulatorem robota usługowego, który pozwala na przełączanie właściwego dla robotów przemysłowych pozycyjnego trybu sterowania na tryb impedancyjny charakterystyczny dla robotów usługowych. Dzięki temu w zależności od specyfiki wykonywanego zadania uzyskuje się dokładne śledzenie trajektorii albo możliwość bezpiecznego przejścia z ruchu w przestrzeni swobodnej do kontaktu z otoczeniem. Artykuł podzielony jest na dwie części. W części pierwszej zaproponowano cztery kompatybilne zachowania wirtualnego efektora agenta upostaciowionego robota manipulacyjnego oraz uniwersalny sterownik, który je realizuje. Część druga poświęcona jest sterowaniu momentem w napędach robotów manipulacyjnych, które jest niezbędne do uruchomienia sterownika na rzeczywistym sprzęcie.
T. Winiarski and B. Świstak
Sterowanie pozycyjno–impedancyjne zmodyfikowanym przemysłowym manipulatorem IRp6 – część pierwsza, struktura sterownika
in XIV Krajowa Konferencja Robotyki – Postępy robotyki, 2016, vol. 1, pp. 61–70
[ BIB | abstract | URL ]
```
@inproceedings{kkr14_si_struktura_sterownika-twiki,
  author = {Winiarski, Tomasz and Świstak, Bartosz},
  booktitle = {XIV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Sterowanie pozycyjno--impedancyjne zmodyfikowanym przemysłowym manipulatorem IRp6 -- część pierwsza, struktura sterownika}},
  year = {2016},
  pages = {61--70},
  volume = {1},
  conference = {kkr14},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/kkr14_si_struktura_sterownika.pdf}
}
```
W artykule przedstawiono zunifikowany, pozycyjno-impedancyjny sposób sterowania manipulatorem robota usługowego, który pozwala na przełączanie właściwego dla robotów przemysłowych pozycyjnego trybu sterowania na tryb impedancyjny charakterystyczny dla robotów usługowych. Dzięki temu w zależności od specyfiki wykonywanego zadania uzyskuje się dokładne śledzenie trajektorii albo możliwość bezpiecznego przejścia z ruchu w przestrzeni swobodnej do kontaktu z otoczeniem. Artykuł podzielony jest na dwie części. W części pierwszej zaproponowano cztery kompatybilne zachowania wirtualnego efektora agenta upostaciowionego robota manipulacyjnego oraz uniwersalny sterownik, który je realizuje. Część druga poświęcona jest sterowaniu momentem w napędach robotów manipulacyjnych, które jest niezbędne do uruchomienia sterownika na rzeczywistym sprzęcie.
M. Stefańczyk and M. Walęcki
Konstrukcja stolika obrotowego do celów akwizycji widoków do baz obiektów
in XIV Krajowa Konferencja Robotyki – Postępy robotyki, 2016, vol. 2, pp. 447–455
[ BIB | abstract | URL ]
```
@inproceedings{kkr14_stolik-twiki,
  author = {Stefańczyk, Maciej and Walęcki, Michał},
  booktitle = {XIV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Konstrukcja stolika obrotowego do celów akwizycji widoków do baz obiektów}},
  year = {2016},
  pages = {447--455},
  volume = {2},
  conference = {kkr14},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/kkr14_stolik.pdf}
}
```
Robotyka usługowa, będąca od dłuższego czasu jednym z głównych kierunków zainteresowania robotyków na świecie, dąży do stworzenia robotów potrafiących współpracować z ludźmi bądź wyręczać ich w zadaniach poza fabrykami. W niemalże wszystkich tego typu zastosowaniach, jedną z kluczowych kwestii jest rozpoznawanie obiektów w otoczeniu robota. Dostępność pełnych, trójwymiarowych modeli tych przedmiotów znacząco poprawia jakość ich detekcji i rozpoznawania. Budowanie modeli obiektów jest dużo łatwiejsze przy zastosowaniu stolików obrotowych w celu akwizycji wielu widoków tego samego przedmiotu. W artykule przedstawiono projekt i budowę stanowiska do półautomatycznego zbierania wielu widoków obiektów.
M. Laszkowski and T. Kornuta
Porównanie metod weryfikacji hipotez obiektów rozpoznawanych w obrazach RGB-D
in XIV Krajowa Konferencja Robotyki – Postępy robotyki, 2016, vol. 2, pp. 367–376
[ BIB | abstract | URL ]
```
@inproceedings{kkr14_weryfikacja_hipotez_rgbd-twiki,
  author = {Laszkowski, Michał and Kornuta, Tomasz},
  booktitle = {XIV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Porównanie metod weryfikacji hipotez obiektów rozpoznawanych w obrazach RGB-D}},
  year = {2016},
  pages = {367--376},
  volume = {2},
  conference = {kkr14},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/kkr14_weryfikacja_hipotez_rgbd.pdf}
}
```
W poniższej pracy skupiono uwagę na wykorzystaniu czujników RGB-D do rozpoznawania obiektów na potrzeby robotyki usługowej. W szczególności celem było porównanie działania wybranych metod weryfikacji hipotez. W referacie pokrótce opisano kompletny podsystem percepcji robota służący do rozpoznawania obiektów oraz zaproponowano odpowiednią metodykę badań. W badaniach tych przeanalizowano zarówno poprawność detekcji, jak i pozycjonowania rozpoznawanych obiektów. Otrzymane wyniki potwierdzają poprawność opracowanego rozwiązania i wskazują kierunki dalszego rozwoju systemu.
T. Kornuta and M. Stefańczyk
Porównanie metod akwizycji obrazów RGB-D na potrzeby rejestracji trójwymiarowych modeli obiektów
in XIV Krajowa Konferencja Robotyki – Postępy robotyki, 2016, vol. 2, pp. 357–366
[ BIB | abstract | URL ]
```
@inproceedings{kkr14_wykorzystanie_stereo_tekstur-twiki,
  author = {Kornuta, Tomasz and Stefańczyk, Maciej},
  booktitle = {XIV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Porównanie metod akwizycji obrazów RGB-D na potrzeby rejestracji trójwymiarowych modeli obiektów}},
  year = {2016},
  pages = {357--366},
  volume = {2},
  conference = {kkr14},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/kkr14_wykorzystanie_stereo_tekstur.pdf}
}
```
Aby móc realizować zadania natury manipulacyjnej roboty muszą dysponować dobrej jakości, spójnymi modelami manipulowanych obiektów. Celem prac opisanych w poniższym referacie było opracowanie systemu do rejestracji trójwymiarowych modeli obiektów. Ponieważ jakość modeli uzyskiwanych za pomocą komercyjnych czujników RGB-D była niska, wytworzono układ wielokamerowy z dodatkowym oświetlaczem strukturalnym. W referacie pokrótce omówiono zaimplementowany system do rejestracji modeli oraz porównano modele otrzymane w oparciu o czujnik Microsoft Kinect oraz układ wielokamerowy.

T. Kornuta and M. Laszkowski

Perception subsystem for object recognition and pose estimation in RGB-D images

in Recent Advances in Automation, Robotics and Measuring Techniques, 2016, vol. 440, pp. 597–607

[ BIB | DOI | abstract | URL ]

@inproceedings{Kornuta:2016_automation_perception-twiki,
  author = {Kornuta, Tomasz and Laszkowski, Michał},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  title = {{Perception subsystem for object recognition and pose estimation in RGB-D images}},
  year = {2016},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  pages = {597-607},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  volume = {440},
  doi = {10.1007/978-3-319-29357-8_52},
  projects = {GrantMeDeRo},
  owner = {tkornut},
  timestamp = {2015.10.30},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/rgbd-grasping.pdf}
}

M. Łępicka, T. Kornuta, and M. Stefańczyk
Utilization of colour in ICP-based point cloud registration
in Proceedings of the 9th International Conference on Computer Recognition Systems CORES 2015, 2016, pp. 821–830
[ BIB | DOI | abstract | URL ]
```
@inproceedings{lepicka:2015:cores,
  author = {Łępicka, Marta and Kornuta, Tomasz and Stefańczyk, Maciej},
  booktitle = {Proceedings of the 9th International Conference on Computer Recognition Systems CORES 2015},
  title = {Utilization of colour in ICP-based point cloud registration},
  year = {2016},
  series = {Advances in Intelligent Systems and Computing},
  pages = {821--830},
  publisher = {Springer},
  doi = {10.1007/978-3-319-26227-7_77},
  projects = {GrantRobREx},
  owner = {tkornuta},
  timestamp = {2015.04.22},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/color-normals-icp.pdf}
}
```
Advent of RGB-D sensors fostered the progress of computer vision algorithms spanning from object recognition, object and scene modelling to human activity recognition. The paper presents a new flavour of ICP algorithm developed for the purpose of pair-wise registration of colour point clouds generated from RGB-D images. After a brief introduction to the registration problem we analyse the ICP algorithm and survey its different flavours in order to indicate potential methods of injecting of colour into it. Our consideration led to a solution, which we validate experimentally on colour point clouds from the publicly available dataset.
T. Kornuta and M. Stefańczyk
Utilization of textured stereovision for registration of 3D models of objects
in 21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2016, 2016, pp. 1088–10093
[ BIB | DOI | abstract | URL ]
```
@inproceedings{mmar_kornuta_utilization-2016-twiki,
  author = {Kornuta, Tomasz and Stefańczyk, Maciej},
  booktitle = {21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2016},
  title = {{Utilization of textured stereovision for registration of 3D models of objects}},
  year = {2016},
  pages = {1088--10093},
  publisher = {IEEE},
  doi = {10.1109/MMAR.2016.7575289},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/mmar_kornuta_utilization.pdf}
}
```
RGB-D sensors triggered a rapid progress in the field of robot visual perception. A typical visual perception subsystem relies on finding the correspondences between features extracted from RGB-D images retrieved from robot sensors and models of objects. In this paper we introduce a multi-camera setup supplemented with an additional pattern projector used for registration of high-resolution images of objects. The objects are placed on a fiducial board with two dot patterns enabling robust extraction of masks of the placed objects and estimation of their initial poses. The acquired dense point clouds constituting subsequent object views undergo pairwise registration and at the end are optimized with a graph-based technique derived from SLAM. The combination of all those elements resulted in a system for generation of consistent 3D models of objects. We present details of the developed system and conclude the paper with discussion of the achieved results.
D. Seredyński, M. Stefańczyk, K. Banachowicz, B. Świstak, V. Kutia, and T. Winiarski
Control system design procedure of a mobile robot with various modes of locomotion
in 21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2016, 2016, pp. 490–495
[ BIB | DOI | abstract | URL | VIDEO ]
```
@inproceedings{mmar_seredynski_control-2016-twiki,
  author = {Seredyński, Dawid and Stefańczyk, Maciej and Banachowicz, Konrad and Świstak, Bartosz and Kutia, Vitalii and Winiarski, Tomasz},
  booktitle = {21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2016},
  title = {{Control system design procedure of a mobile robot with various modes of locomotion}},
  year = {2016},
  pages = {490--495},
  publisher = {IEEE},
  doi = {10.1109/MMAR.2016.7575184},
  projects = {GrantMeDeRo},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/mmar_seredynski_control.pdf},
  video = {https://www.youtube.com/watch?v=lnnb9ZKDu4M}
}
```
In this article the design procedure of a control system of a mobile robot with various modes of locomotion has been considered. The procedure is based on an embodied agent theory and focuses on the agent behaviours and transitions between them. The procedure was introduced to speed up and organize the whole controller development process. The effectiveness of the proposed approach is proved through control system development and experimental verification of the custombuilt Lynx mobile robot with vertical and horizontal modes of locomotion.
D. Seredyński, K. Banachowicz, and T. Winiarski
Graph–based potential field for the end–effector control within the torque–based task hierarchy
in 21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2016, 2016, pp. 645–650
[ BIB | DOI | abstract | URL | VIDEO ]
```
@inproceedings{mmar_seredynski_graph-2016-twiki,
  author = {Seredyński, Dawid and Banachowicz, Konrad and Winiarski, Tomasz},
  booktitle = {21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2016},
  title = {{Graph–based potential field for the end–effector control within the torque–based task hierarchy}},
  year = {2016},
  pages = {645--650},
  publisher = {IEEE},
  doi = {10.1109/MMAR.2016.7575212},
  projects = {GrantMeDeRo},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/mmar_seredynski_graph.pdf},
  video = {https://vimeo.com/139385788}
}
```
In the article, a reactive torque–based hierarchical task–space control for a robot with multiple redundant DOFs is presented that is suitable to plan, validate and execute a humanoid upper-body motion in human oriented environment. The strategy consists of: (i) joint limit avoidance, (ii) self–collision avoidance using repulsive force fields with additional environment collision avoidance, (iii) end–effector task with a specified discrete potential field with tricubic interpolation and (iv) a posture task on the lowest priority. The proposed approach is verified for Velma – a robot with a humanoid upper-body.
T. Winiarski, W. Kasprzak, M. Stefańczyk, and M. Walęcki
Automated inspection of door parts based on fuzzy recognition system
in 21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2016, 2016, pp. 478–483
[ BIB | DOI | abstract | URL ]
```
@inproceedings{mmar_winiarski_automated-2016-twiki,
  author = {Winiarski, Tomasz and Kasprzak, Włodzimierz and Stefańczyk, Maciej and Walęcki, Michał},
  booktitle = {21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2016},
  title = {{Automated inspection of door parts based on fuzzy recognition system}},
  year = {2016},
  pages = {478--483},
  publisher = {IEEE},
  doi = {10.1109/MMAR.2016.7575182},
  projects = {GrantMeDeRo},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/mmar_winiarski_automated.pdf}
}
```
The article presents a comprehensive strategy of door parts (locks, handles, doorplates etc.) examination as a paradigm of active sensing. It covers the whole process – from segmentation, through initial hypothesis generation based on fuzzy inference, to final recognition and precise localization of the keyholes in a robot base coordinate system. The strategy is a preliminary stage of a door locks opening procedure. The image analysis process is divided into three steps. First, an initial region of interest is localized using a RGB-D low resolution camera mounted on the robot’s head. It is then categorized, based on its properties, as a lock, handle, doorplate etc. Finally it is inspected using 2D camera mounted on the robot’s arm. Thanks to the preliminary localization with the head camera the robot can look at the point of interest at sight, without time-consuming thorough inspection of the whole door. The whole system was formally specified as an embodied agent. For that purpose a system modeling language was used to specify embodied agent subsystems behaviors. The proposed strategy is verified experimentally using Velma prototype service robot.
T. Winiarski, K. Banachowicz, M. Walęcki, and J. Bohren
Multibehavioral position–force manipulator controller
in 21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2016, 2016, pp. 651–656
[ BIB | DOI | abstract | URL ]
```
@inproceedings{mmar_winiarski_multibehavioral-2016-twiki,
  author = {Winiarski, Tomasz and Banachowicz, Konrad and Walęcki, Michał and Bohren, Jonathan},
  booktitle = {21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2016},
  title = {{Multibehavioral position–force manipulator controller}},
  year = {2016},
  pages = {651--656},
  publisher = {IEEE},
  doi = {10.1109/MMAR.2016.7575213},
  projects = {GrantMeDeRo},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/mmar_winiarski_multibehavioral.pdf}
}
```
In the article the whole process of a manipulator controller development is presented. The controller is designed for the execution of various benchmark tasks in the field of service robotics. Initially, a set of system behaviors is presented as the base of the universal controller structure. For that purpose the embodied agent theory and the System Modeling Language are utilized. The execution and switching between the behaviors relies on a particular algorithm. The control system is verified on a two arm robotic system that consists of position-controlled industrial manipulators and a number of extra force/torque sensors and cameras.
K. Przerwa, W. Kasprzak, and M. Stefańczyk
Infrared image-based 3D surface reconstruction of free-form texture-less objects
in Proceedings of the 9th International Conference on Computer Recognition Systems CORES 2015, 2016, pp. 809–820
[ BIB | DOI | abstract | URL ]
```
@inproceedings{przerwa2015infrared-twiki,
  author = {Przerwa, Karolina and Kasprzak, Włodzimierz and Stefańczyk, Maciej},
  booktitle = {Proceedings of the 9th International Conference on Computer Recognition Systems CORES 2015},
  title = {Infrared image-based 3D surface reconstruction of free-form texture-less objects},
  year = {2016},
  series = {Advances in Intelligent Systems and Computing},
  pages = {809--820},
  publisher = {Springer},
  doi = {10.1007/978-3-319-26227-7_76},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/wk-sfs-kinect.pdf}
}
```
The analysis of infrared (IR) images obtained from a robot-mounted camera is presented, with the purpose to reconstruct the 3D surface of texture-less objects located in close range to the camera. The prospective application of this approach is object’s pose recognition with the aim of object grasping by a robot hand. Algorithms are developed that rely on the analysis of the luminance distribution in the IR image (the so-called shape-from-shading approach), followed by a depth-map approximation. Laboratory tests were carried out in order to evaluate the quality of obtained depth maps on some reference objects and to compare the estimated depth maps with corresponding point clouds acquired by a MS-Kinect device.

D. Seredyński and W. Szynkiewicz

Fast Grasp Learning for Novel Objects

in Recent Advances in Automation, Robotics and Measuring Techniques, 2016, vol. 440, pp. 681–692

[ BIB | DOI | URL ]

@inproceedings{seredynski2016fast-twiki,
  author = {Seredyński, Dawid and Szynkiewicz, Wojciech},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  title = {{Fast Grasp Learning for Novel Objects}},
  year = {2016},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  pages = {681-692},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  volume = {440},
  doi = {10.1007/978-3-319-29357-8_59},
  projects = {GrantRobREx},
  owner = {tkornut},
  timestamp = {2015.10.30},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/grasp_learning.pdf}
}

M. Stefańczyk and R. Pietruch
Hypothesis generation in generic, model-based object recognition system
Recent Advances in Automation, Robotics and Measuring Techniques, vol. 440, pp. 717–727, 2016
[ BIB | DOI | abstract ]
```
@article{stefanczyk2016hypothesis-twiki,
  author = {Stefańczyk, Maciej and Pietruch, Rafał},
  title = {Hypothesis generation in generic, model-based object recognition system},
  year = {2016},
  volume = {440},
  pages = {717-727},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  doi = {10.1007/978-3-319-29357-8_62},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  projects = {GrantRobREx},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  twiki = {article},
  zadanie = {piap4}
}
```
One of the key problems in robotics is ability to search and recognize objects, as well as their reliable localization. Existing object-detection solutions relies either on instance-models, making them unable to generalize, or can’t estimate object pose if the model is not known at hand. We aim at making system able to work with generic models, described using set of simple parts and relations between them, as well as localize them on scene. Article presents hypothesis generation part of the designed system.
M. Stefańczyk, M. Laszkowski, and T. Kornuta
WUT Visual Perception Dataset – a dataset for registration and recognition of objects
Recent Advances in Automation, Robotics and Measuring Techniques, vol. 440, pp. 635–645, 2016
[ BIB | DOI | abstract | URL ]
```
@article{stefanczyk2016wut-twiki,
  author = {Stefańczyk, Maciej and Laszkowski, Michał and Kornuta, Tomasz},
  title = {{WUT Visual Perception Dataset -- a dataset for registration and recognition of objects}},
  year = {2016},
  pages = {635-645},
  volume = {440},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  doi = {10.1007/978-3-319-29357-8_55},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  projects = {GrantRobREx},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/rgbd-dataset.pdf},
  zadanie = {pw12}
}
```
Modern robots are typically equipped with many sensors with different modalities, e.g. RGB cameras, Time-of-Flight cameras or RGB-D sensors. Thus development of universal, modality-independent algorithms require appropriate datasets and benchmarks. In this paper we present WUT Visual Perception Dataset, consisting of five datasets, captured with different sensors with the goal of development, comparison and evaluation of algorithms for automatic object model registration and object recognition.

M. Walęcki and C. Zieliński

Prediction-Based Visual Servo Control

in Recent Advances in Automation, Robotics and Measuring Techniques, 2016, vol. 440, pp. 693–704

[ BIB | DOI | URL ]

@inproceedings{walecki:2016-automation-twiki,
  author = {Walęcki, Michał and Zieliński, Cezary},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  title = {{Prediction-Based Visual Servo Control}},
  year = {2016},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  note = {Zielinski},
  pages = {693-704},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  volume = {440},
  doi = {10.1007/978-3-319-29357-8_60},
  projects = {GrantRobREx},
  owner = {tkornut},
  timestamp = {2015.10.30},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/automation-visual_servo.pdf},
  zadanie = {pw12}
}

A. Wilkowski, T. Kornuta, M. Stefańczyk, and W. Kasprzak
Efficient generation of 3D surfel maps using RGB-D sensors
International Journal of Applied Mathematics And Computer Science (AMCS), vol. 26, no. 1, pp. 99–122, 2016
[ BIB | DOI | abstract | URL ]
```
@article{Wilkowski2014_amcs_surfels-twiki,
  author = {Wilkowski, Artur and Kornuta, Tomasz and Stefańczyk, Maciej and Kasprzak, Włodzimierz},
  title = {Efficient generation of 3D surfel maps using RGB-D sensors},
  journal = {International Journal of Applied Mathematics And Computer Science (AMCS)},
  year = {2016},
  volume = {26},
  number = {1},
  pages = {99-122},
  doi = {10.1515/amcs-2016-0007},
  projects = {GrantRobREx},
  owner = {tkornuta},
  timestamp = {2014.11.27},
  twiki = {jcr},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/14-amcs-rgbd.pdf}
}
```
The article focuses on the problem of building dense 3D occupancy maps using commercial RGB-D sensors and the SLAM approach. In particular, it addresses the problem of 3D map representations, which must be able both to store millions of points and to offer efficient update mechanisms. The proposed solution consists of two such key elements, visual odometry and surfel-based mapping, but it contains substantial improvements: storing the surfel maps in octree form and utilizing a frustum culling-based method to accelerate the map update step. The performed experiments verify the usefulness and efficiency of the developed system.
A. Wilkowski and M. Stefańczyk
Detection and recognition of compound 3D models by hypothesis generation
Recent Advances in Automation, Robotics and Measuring Techniques, vol. 440, pp. 659–668, 2016
[ BIB | DOI | abstract ]
```
@article{wilkowski2016detection-twiki,
  author = {Wilkowski, Artur and Stefańczyk, Maciej},
  title = {Detection and recognition of compound {3D} models by hypothesis generation},
  year = {2016},
  volume = {440},
  pages = {659-668},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  doi = {10.1007/978-3-319-29357-8_57},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  projects = {GrantRobREx},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  twiki = {article},
  zadanie = {piap4}
}
```
In the paper there is proposed an integrated object detection and recognition system, based on object description given in semantic form [5]. The objects are described in a generic way in terms of parts and relations between them. The Bayesian inference system is utilized, so each object detection and recognition score has probabilistic interpretation. There are designed basic 3D models founded on the inference framework. Object instances are then detected and recognized in real-world Kinect RGBD images.
A. Wujek and T. Winiarski
Automated Drawing Recognition and Reproduction with a Multisensory Robotic Manipulation System
in Recent Advances in Automation, Robotics and Measuring Techniques, 2016, vol. 440, pp. 423–433
[ BIB | DOI | abstract | URL | VIDEO ]
```
@inproceedings{wujek:automation-2016-twiki,
  author = {Wujek, Anna and Winiarski, Tomasz},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  title = {{Automated Drawing Recognition and Reproduction with a Multisensory Robotic Manipulation System}},
  year = {2016},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  pages = {423-433},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  volume = {440},
  doi = {10.1007/978-3-319-29357-8_38},
  projects = {GrantMeDeRo},
  owner = {tkornut},
  timestamp = {2015.10.30},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/15-automated-drawing-recognition.pdf},
  video = {https://vimeo.com/170228609}
}
```
Article presents a multisensory robotic system, that is reproducing contour drawings. Initially the system detects a sheet of paper with a reference drawing, determines contours of the drawing, and then draws contour image on a blank sheet of paper. The reproduction conserves features of the original drawing - shapes, location and scale. The system was created with usage of an embodied agent theory. In this article two main parts of a designed system are presented - vision module (virtual receptor) and control subsystem. System is verified on a modified industrial manipulator acting as a service robot with an eye in hand camera and a force/torque sensor mounted in the wrist.
C. Zieliński and M. Figat
Robot System Design Procedure Based on a Formal Specification
in Recent Advances in Automation, Robotics and Measuring Techniques, 2016, vol. 440, pp. 511–522
[ BIB | DOI | abstract | URL ]
```
@inproceedings{zielinski:2016-automation-twiki,
  author = {Zieliński, Cezary and Figat, Maksym},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  title = {{Robot System Design Procedure Based on a Formal Specification}},
  year = {2016},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  note = {Zielinski},
  pages = {511-522},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  volume = {440},
  doi = {10.1007/978-3-319-29357-8_45},
  projects = {GrantMeDeRo},
  owner = {tkornut},
  timestamp = {2015.10.30},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/specification.pdf}
}
```
This paper presents a robot control system design procedure based on a formal specification. The specification describes both the structure and the activities of a robot system in a formal manner. Using this specification the code of the robot system controller can be produced. The paper shows how. Moreover it has been shown that the complexity of the robot control system is concentrated in two of its elements: transition functions and the structure of the FSM. The reduction of the complexity of transition functions simultaneously increases the number of states of the FSM and vice versa, so it is up to the designer of the system to choose the adequate complexity level of this pair.
S. E. Reppou, E. G. Tsardoulias, A. M. Kintsakis, A. L. Symeonidis, P. A. Mitkas, F. E. Psomopoulos, G. T. Karagiannis, C. Zieliński, V. Prunet, J.-P. Merlet, M. Iturburu, and A. Gkiokas
RAPP: A Robotic-Oriented Ecosystem for Delivering Smart User Empowering Applications for Older People
International Journal of Social Robotics, vol. 8, no. 4, pp. 539–552, Aug. 2016
[ BIB | DOI | abstract | URL ]
```
@article{Reppou:2016,
  author = {Reppou, Sofia E. and Tsardoulias, Emmanouil G. and Kintsakis, Athanassios M. and Symeonidis, Andreas L. and Mitkas, Pericles A. and Psomopoulos, Fotis E. and Karagiannis, George T. and Zieliński, Cezary and Prunet, Vincent and Merlet, Jean-Pierre and Iturburu, Miren and Gkiokas, Alexandros},
  title = {RAPP: A Robotic-Oriented Ecosystem for Delivering Smart User Empowering Applications for Older People},
  journal = {International Journal of Social Robotics},
  year = {2016},
  month = aug,
  day = {01},
  volume = {8},
  number = {4},
  pages = {539--552},
  issn = {1875-4805},
  doi = {10.1007/s12369-016-0361-z},
  url = {https://doi.org/10.1007/s12369-016-0361-z},
  note = {Zielinski}
}
```
It is a general truth that increase of age is associated with a level of mental and physical decline but unfortunately the former are often accompanied by social exclusion leading to marginalization and eventually further acceleration of the aging process. A new approach in alleviating the social exclusion of older people involves the use of assistive robots. As robots rapidly invade everyday life, the need of new software paradigms in order to address the user’s unique needs becomes critical. In this paper we present a novel architectural design, the RAPP [a software platform to deliver smart, user empowering robotic applications (RApps)] framework that attempts to address this issue. The proposed framework has been designed in a cloud-based approach, integrating robotic devices and their respective applications. We aim to facilitate seamless development of RApps compatible with a wide range of supported robots and available to the public through a unified online store.
X. He, C. Zieliński, S. Davy, and L. Shi
A Constrained Guess-Check Approach for Resource Allocation in the Robot Control System Design
in Advances in Reconfigurable Mechanisms and Robots II, Cham, 2016, pp. 913–925
[ BIB | DOI | abstract ]
```
@inproceedings{He:2016,
  author = {He, Xingyun and Zieliński, Cezary and Davy, Steven and Shi, Lei},
  editor = {Ding, Xilun and Kong, Xianwen and Dai, Jian S.},
  title = {A Constrained Guess-Check Approach for Resource Allocation in the Robot Control System Design},
  booktitle = {Advances in Reconfigurable Mechanisms and Robots II},
  year = {2016},
  publisher = {Springer International Publishing},
  address = {Cham},
  pages = {913--925},
  isbn = {978-3-319-23327-7},
  doi = {https://doi.org/10.1007/978-3-319-23327-7_78},
  note = {Zielinski}
}
```
Nowadays robots are applied in many diversified industry fields, and even in our daily life. The structure of robots becomes more and more sophisticated, so designing and building such robots is not easy due to the growing complexity of the control systems structure. Therefore, many researchers focus on robot programming frameworks in order to simplify the process of designing and building robots. However, how to assemble agents, tasks and resources when building a robot is an important problem demanding efficient solution in the robot programming frameworks. In this paper, we present an approach, which can allocate the tasks of a robot to each agent according to the computational ability of agents, the execution time of tasks, and certain constraints, and can help manage all the resources (i.e., effectors and receptors) in the way which gives the structure with the least number of connections between agents. The allocation is proved to be Pareto Optimal.
W. Dudek, K. Banachowicz, W. Szynkiewicz, and T. Winiarski
Distributed NAO robot navigation system in the hazard detection application
in 21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2016, 2016, pp. 942–947
[ BIB | DOI | abstract | URL ]
```
@inproceedings{mmar_dudek_distributed-2016-twiki,
  author = {Dudek, Wojciech and Banachowicz, Konrad and Szynkiewicz, Wojciech and Winiarski, Tomasz},
  booktitle = {21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2016},
  title = {{Distributed NAO robot navigation system in the hazard detection application}},
  year = {2016},
  pages = {942--947},
  publisher = {IEEE},
  doi = {10.1109/MMAR.2016.7575264},
  projects = {fp7rapp},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/mmar_dudek_distributed.pdf}
}
```
Advanced robot control algorithms, that are based on sensor data fusion and a lot of processing, require high computational power. Hence, most of the modern robots have their own highly efficient computers. It makes the service and assistant robots costly and still unavailable for the most of the home users. In this paper the navigation system of the humanoid NAO robot is presented that is distributed through the robot and the cloud. It reduces the cost of the particular robot and makes it affordable for customers. Furthermore, the multi-agent task specification and implementation method is proposed and illustrated on an example of hazard detection task – the assistant robot application to help the elderly people to dwell at home.

2015

M. Figat, T. Kornuta, M. Szlenk, and C. Zieliński

Distributed, reconfigurable architecture for robot companions exemplified by a voice-mail application

in 20-th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2015, 2015

[ BIB | DOI | URL ]

@inproceedings{Figat:MMAR2015-twiki,
  author = {Figat, Maksym and Kornuta, Tomasz and Szlenk, Marcin and Zieliński, Cezary},
  title = {Distributed, reconfigurable architecture for robot companions exemplified by a voice-mail application},
  booktitle = {20-th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2015},
  year = {2015},
  publisher = {IEEE},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2015/distributed-control-system.pdf},
  doi = {10.1109/MMAR.2015.7284031},
  projects = {fp7rapp},
  owner = {tkornuta},
  timestamp = {2015.04.22},
  twiki = {article},
  note = {Zielinski}
}

J. Figat and W. Kasprzak

NAO-mark vs QR-code Recognition by Nao Robot Vision

in Progress in Automation, Robotics and Measuring Techniques. Vol. 2 Robotics., 2015, vol. 351, pp. 55–64

[ BIB | DOI | URL ]

@inproceedings{Figat2015QRcode-twiki,
  author = {Figat, Jan and Kasprzak, Włodzimierz},
  booktitle = {Progress in Automation, Robotics and Measuring Techniques. Vol. 2 Robotics.},
  title = {NAO-mark vs QR-code Recognition by Nao Robot Vision},
  year = {2015},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  volume = {351},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  pages = {55--64},
  publisher = {Springer},
  doi = {10.1007/978-3-319-15847-1_6},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2015/Figat2015QRcode.pdf},
  projects = {fp7rapp},
  isbn = {978-3-319-15846-4},
  owner = {jfigat},
  twiki = {inbook}
}

M. Janiak and C. Zieliński

Control System Architecture for the Investigation of Motion Control Algorithms on an Example of the Mobile Platform Rex

Bulletin of the Polish Academy of Sciences – Technical Sciences, vol. 63, no. 3, pp. 667–678, 2015

[ BIB | DOI | URL ]

@article{JaniakCZ:2015-twiki,
  author = {Janiak, Mariusz and Zieliński, Cezary},
  title = {Control System Architecture for the Investigation of Motion Control Algorithms on an Example of the Mobile Platform Rex},
  journal = {Bulletin of the Polish Academy of Sciences -- Technical Sciences},
  year = {2015},
  volume = {63},
  number = {3},
  pages = {667--678},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2015/bpasts-2015-0078.pdf},
  doi = {10.1515/bpasts-2015-0078},
  projects = {GrantRobREx},
  owner = {tkornuta},
  timestamp = {2014.11.27},
  twiki = {jcr},
  zadanie = {pw11},
  note = {Zielinski}
}

W. Kasprzak, R. Pietruch, K. B. A. Wilkowski, and T. Kornuta

Integrating Data- and Model-Driven Analysis of RGB-D Images

in Proceedings of the 7th IEEE International Conference Intelligent Systems IS’2014, 2015, vol. 323, pp. 605–616

[ BIB | DOI | URL ]

@inproceedings{Kasprzak:2014_IS_integration-twiki,
  author = {Kasprzak, Włodzimierz and Pietruch, Rafał and Wilkowski, Konrad Bojarand Artur and Kornuta, Tomasz},
  booktitle = {Proceedings of the 7th IEEE International Conference Intelligent Systems IS’2014},
  title = {{Integrating Data- and Model-Driven Analysis of RGB-D Images}},
  year = {2015},
  editor = {Filev, D. and Jabłkowski, J. and Kacprzyk, J. and Krawczak, M. and Popchev, I. and Rutkowski, L. and Sgurev, V. and Sotirova, E. and Szynkarczyk, P. and Zadrozny, S.},
  pages = {605-616},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  volume = {323},
  doi = {10.1007/978-3-319-11310-4_52},
  projects = {GrantRobREx},
  isbn = {978-3-319-11309-8},
  owner = {tkornuta},
  timestamp = {2014.05.28},
  twiki = {inbook},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/IS-object-modelling_v2.pdf}
}

W. Kasprzak, M. Stefańczyk, and A. Wilkowski
Printed steganography applied for the authentication of identity photos in face verification
in Cybernetics (CYBCONF), 2015 IEEE 2nd International Conference on, 2015, pp. 512–517
[ BIB | DOI | abstract | URL ]
```
@inproceedings{kasprzak2015printed,
  author = {Kasprzak, Włodzimierz and Stefańczyk, Maciej and Wilkowski, Artur},
  booktitle = {Cybernetics (CYBCONF), 2015 IEEE 2nd International Conference on},
  title = {Printed steganography applied for the authentication of identity photos in face verification},
  year = {2015},
  pages = {512-517},
  keywords = {biometrics (access control);face recognition;steganography;Digimarc tool;Fujitsu method;ICAO-consistent travel document;biometric SDK-s;biometric verification;electronic image;face image authentication;face verification;identity photo authentication;print-scan process;printed steganography;triangle net method;Authentication;Biomedical imaging;Correlation;Distortion;Face;Testing;Watermarking;face biometrics;image authentication;printed steganography},
  doi = {10.1109/CYBConf.2015.7175987},
  month = jun,
  twiki = {article},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2015/cybconf.pdf}
}
```
Steganography methods are proposed for the authentication of the holder’s photo in an ICAO-consistent (travel) document. The embedded message is heavily influenced by the print-scan process, as the electronic image is first printed to be included into the document (or identity card) and is scanned next to constitute the reference template in an automatic face verification procedure. Two sufficiently robust steganography methods are designed, modifications of the “Fujitsu method” and the “triangle net” method. A third method, a commercial Digimarc tool is also applied. The methods are tested w.r.t. to face image authentication ability in a face verification procedure, using two commercial biometric SDK-s. Test results demonstrate the feasibility in biometric verification and high authentication quality of proposed approach.
T. Kornuta and C. Zieliński
Robot control system design exemplified by multi-camera visual servoing
Journal of Intelligent & Robotic Systems, vol. 77, no. 3–4, pp. 499–524, 2015
[ BIB | DOI | abstract ]
```
@article{Kornuta:13_irs-twiki,
  author = {Kornuta, Tomasz and Zieliński, Cezary},
  title = {Robot control system design exemplified by multi-camera visual servoing},
  journal = {Journal of Intelligent \& Robotic Systems},
  year = {2015},
  volume = {77},
  number = {3--4},
  pages = {499--524},
  doi = {10.1007/s10846-013-9883-x},
  projects = {NCN2012Kornuta},
  lang = {en},
  owner = {tkornuta},
  timestamp = {2013.05.16},
  twiki = {jcr},
  note = {Zielinski}
}
```
The article investigates the problem of designing robot control systems. It starts with a brief overview of general control architectures, followed by the presentation of the design methodology based on the concept of an embodied agent. Multi-level decomposition of system structure enables the formulation of the operation of each of the resulting subsystems in terms of transition functions, specifying their state evolution. The paper also introduces mathematical and graphical notations, complementing each other, defining formally the control system behaviour. As an example the specification of a control system of a robot utilizing multi-camera visual servoing for object following is presented.
T. Kornuta, T. Winiarski, and C. Zieliński
Specification of abstract robot skills in terms of control system behaviours
in Progress in Automation, Robotics and Measuring Techniques. Vol. 2 Robotics., 2015, vol. 351, pp. 139–152
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Kornuta:2015_Automation_grasping-twiki,
  author = {Kornuta, Tomasz and Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {Progress in Automation, Robotics and Measuring Techniques. Vol. 2 Robotics.},
  title = {{Specification of abstract robot skills in terms of control system behaviours}},
  year = {2015},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  note = {Zielinski},
  pages = {139--152},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  volume = {351},
  affiliation = {Institute of Control and Computation Engineering, Warsaw University of Technology, Nowowiejska 15/19, 00-665 Warsaw, Poland},
  doi = {10.1007/978-3-319-15847-1_14},
  projects = {GrantMeDeRo},
  owner = {tkornuta},
  timestamp = {2014.12.10},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2015/14-grasp-skill-specification.pdf}
}
```
Robotic systems possess diverse effectors and receptors influencing their capabilities. For this reason description of robot tasks in a human-understandable form, being strict and abstracting the hardware limitations at the one hand, yet enabling straightforward transformation into robot actions at the other, has been elusive. Herein we propose a method of specification of tasks in terms of abstract object-level relations. This approach imposes the introduction of manipulation primitives modifying those relations by influencing object parameters. To narrow the scope of research in this paper we focus on one of the most elementary robot skills: grasping. We decompose the robot control system using the embodied agent-based methodology, define a set of required behaviours and express the skill as a sequence of those behaviours. To enable the future automatic translation from specification to code, we developed a formal specification of the introduced concepts.
M. Węgierek, B. Świstak, and T. Winiarski
Modularne środowisko do rywalizacji robotów sportowych śledzących linię
Pomiary – Automatyka – Robotyka PAR, vol. 19, no. 3, pp. 61–66, 2015
[ BIB | DOI | abstract | URL ]
```
@article{mwegierek-par-15-twiki,
  author = {Węgierek, Maciej and Świstak, Bartosz and Winiarski, Tomasz},
  journal = {Pomiary -- Automatyka -- Robotyka PAR},
  title = {{Modularne środowisko do rywalizacji robotów sportowych śledzących linię}},
  year = {2015},
  number = {3},
  pages = {61-66},
  volume = {19},
  doi = {10.14313/PAR_217/61},
  projects = {bionik2014},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2015/modularna-plansza.pdf}
}
```
Rozmaitość zawodów robotów, organizowanych na całym świecie, wskazuje na to, że bez wahania możemy juz mówic o robotyce sportowej - nie tylko jako dziedzinie rozrywki, ale także badań. W ostatnich latach wykreowano kilka popularnych konkurencji, dla których sformułowano wymagania dotyczace konstrukcji i oprogramowania robotów. Standaryzacja wymagań obiektywizuje wynik rywalizacji, podobnie jak ma to miejsce chociazby w wyscigach Formuły 1. Jednym z problemów standaryzacji było ujednolicenie srodowiska, w których konkurują roboty sportowe śledzące linię na czas. W niniejszym artykule opisujemy prace, które doprowadziły do opracowania, wytworzenia i weryfikacji modularnego środowiska do rywalizacji tego typu robotów (ang. Line Follower).
D. Seredyński, T. Winiarski, K. Banachowicz, and C. Zieliński
Grasp planning taking into account the external wrenches acting on the grasped object
in 10th International Workshop on Robot Motion and Control (RoMoCo), 2015, pp. 40–45
[ BIB | DOI | abstract | URL | VIDEO ]
```
@inproceedings{seredynski2015grasp-twiki,
  author = {Seredyński, Dawid and Winiarski, Tomasz and Banachowicz, Konrad and Zieliński, Cezary},
  booktitle = {10th International Workshop on Robot Motion and Control (RoMoCo)},
  title = {Grasp planning taking into account the external wrenches acting on the grasped object},
  year = {2015},
  editor = {K.~Kozłowski},
  pages = {40--45},
  organization = {IEEE},
  doi = {10.1109/RoMoCo.2015.7219711},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2015/grasping-romoco-2015.pdf},
  conference = {romoco15},
  projects = {GrantRobREx},
  twiki = {article},
  zadanie = {pw11},
  video = {https://vimeo.com/125795676},
  note = {Zielinski}
}
```
The paper presents an outline of the specification of a robot controller used in manipulation tasks requiring object grasping by a multi-fingered gripper and interaction with the environment. The specification assumes that the robot is represented as an embodied agent composed of real and virtual effectors and receptors and the control subsystem. The actions of those subsystems are defined by finite state machines invoking in each of their states appropriate behaviours. The presentation focuses on grasp planning and execution.

M. Szlenk, C. Zieliński, M. Figat, and T. Kornuta

Reconfigurable Agent Architecture for Robots Utilising Cloud Computing

in Progress in Automation, Robotics and Measuring Techniques. Vol. 2 Robotics., 2015, vol. 351, pp. 253–264

[ BIB | DOI ]

@inproceedings{Szlenk:2015_Automation-twiki,
  author = {Szlenk, Marcin and Zieliński, Cezary and Figat, Maksym and Kornuta, Tomasz},
  booktitle = {Progress in Automation, Robotics and Measuring Techniques. Vol. 2 Robotics.},
  title = {{Reconfigurable Agent Architecture for Robots Utilising Cloud Computing}},
  year = {2015},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  note = {Zielinski},
  pages = {253--264},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  volume = {351},
  affiliation = {Institute of Control and Computation Engineering, Warsaw University of Technology, Nowowiejska 15/19, 00-665 Warsaw, Poland},
  doi = {10.1007/978-3-319-15847-1_25},
  projects = {fp7rapp},
  isbn = {978-3-319-15846-4},
  owner = {tkornuta},
  timestamp = {2014.12.04},
  twiki = {inbook}
}

W. Szynkiewicz

Robot grasp synthesis under object pose uncertainty

Journal of Automation Mobile Robotics and Intelligent Systems, vol. 9, no. 1, pp. 53–61, 2015

[ BIB | DOI ]

@article{szynkiewicz-15-robot-grasp-twiki,
  author = {Szynkiewicz, Wojciech},
  title = {Robot grasp synthesis under object pose uncertainty},
  journal = {Journal of Automation Mobile Robotics and Intelligent Systems},
  year = {2015},
  volume = {9},
  number = {1},
  pages = {53--61},
  doi = {10.14313/JAMRIS_1-2015/7},
  projects = {GrantRobREx},
  twiki = {article},
  zadanie = {pw11}
}

E. G. Tsardoulias, C. Zieliński, W. Kasprzak, S. Reppou, A. L. Symeonidis, P. A. Mitkas, and G. Karagiannis

Merging Robotics and AAL ontologies: The RAPP methodology

in Progress in Automation, Robotics and Measuring Techniques. Vol. 2 Robotics., 2015, vol. 351, pp. 285–298

[ BIB | DOI ]

@inproceedings{Tsardoulias:2014_Automation-twiki,
  author = {Tsardoulias, E.G. and Zieliński, Cezary and Kasprzak, Włodzimierz and Reppou, S. and Symeonidis, A.L. and Mitkas, P.A. and Karagiannis, G.},
  booktitle = {Progress in Automation, Robotics and Measuring Techniques. Vol. 2 Robotics.},
  title = {Merging Robotics and AAL ontologies: The RAPP methodology},
  year = {2015},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  volume = {351},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  pages = {285--298},
  publisher = {Springer},
  doi = {10.1007/978-3-319-15847-1_28},
  affiliation = {Institute of Control and Computation Engineering, Warsaw University of Technology, Nowowiejska 15/19, 00-665 Warsaw, Poland},
  projects = {fp7rapp},
  isbn = {978-3-319-15846-4},
  owner = {tkornuta},
  timestamp = {2014.12.04},
  twiki = {inbook},
  note = {Zielinski}
}

A. Wilkowski, T. Kornuta, and W. Kasprzak

Point-Based Object Recognition in RGB-D Images

in Proceedings of the 7th IEEE International Conference Intelligent Systems IS’2014, 2015, vol. 323, pp. 593–604

[ BIB | DOI | URL ]

@inproceedings{Wilkowski:2014_IS_point_models-twiki,
  author = {Wilkowski, Artur and Kornuta, Tomasz and Kasprzak, Włodzimierz},
  booktitle = {Proceedings of the 7th IEEE International Conference Intelligent Systems IS’2014},
  title = {{Point-Based Object Recognition in RGB-D Images}},
  year = {2015},
  editor = {Filev, D. and Jabłkowski, J. and Kacprzyk, J. and Krawczak, M. and Popchev, I. and Rutkowski, L. and Sgurev, V. and Sotirova, E. and Szynkarczyk, P. and Zadrozny, S.},
  pages = {593-604},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  volume = {323},
  doi = {10.1007/978-3-319-11310-4_51},
  projects = {GrantRobREx},
  isbn = {978-3-319-11309-8},
  owner = {tkornuta},
  timestamp = {2014.05.28},
  twiki = {inbook},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/IS-point-model_v2.pdf}
}

T. Winiarski, K. Banachowicz, and D. Seredyński
Multi-sensory Feedback Control in Door Approaching and Opening
in Intelligent Systems’2014, 2015, vol. 323, pp. 57–70
[ BIB | DOI | abstract | URL | VIDEO ]
```
@inproceedings{winiarski2014is-twiki,
  author = {Winiarski, Tomasz and Banachowicz, Konrad and Seredyński, Dawid},
  booktitle = {Intelligent Systems'2014},
  title = {Multi-sensory Feedback Control in Door Approaching and Opening},
  year = {2015},
  editor = {Filev, D. and Jabłkowski, J. and Kacprzyk, J. and Krawczak, M. and Popchev, I. and Rutkowski, L. and Sgurev, V. and Sotirova, E. and Szynkarczyk, P. and Zadrozny, S.},
  volume = {323},
  series = {Advances in Intelligent Systems and Computing},
  pages = {57-70},
  publisher = {Springer International Publishing},
  doi = {10.1007/978-3-319-11310-4_6},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2015/14-door-is.pdf},
  projects = {GrantMeDeRo},
  isbn = {978-3-319-11309-8},
  keywords = {service robot; impedance control; tactile sensing},
  language = {English},
  twiki = {inbook},
  video = {https://vimeo.com/114881804}
}
```
In the article the robotic system behavior is investigated for the complex door opening task. The system consists of the 7-DOF KUKA LWR4+ manipulator, which is controlled in an impedance way and the BarrettHand gripper, which is controlled in a position way. The system utilizes multi-sensory feedback. The visual feedback is used to roughly localize door and to plan a door approach trajectory. The tactile feedback detects the contact with the door, and handle and determines an exact contact position with the handle. The system does not form a grip in a door opening stage, but the contact between the robot and the door is maintained by the gripper’s fingers (with intrinsic backlash), which are pushing the handle from its one side. This concept allows to open the door when there are obstacles in the neighborhood of the handle (e.g. door jamb or frame), which make the grip impossible.
T. Winiarski, K. Banachowicz, and D. Seredyński
Two mode impedance control of Velma service robot redundant arm
in Progress in Automation, Robotics and Measuring Techniques. Vol. 2 Robotics., 2015, vol. 351, pp. 319–328
[ BIB | DOI | abstract | URL ]
```
@inproceedings{winiarski2015automation-twiki,
  author = {Winiarski, Tomasz and Banachowicz, Konrad and Seredyński, Dawid},
  booktitle = {Progress in Automation, Robotics and Measuring Techniques. Vol. 2 Robotics.},
  title = {{Two mode impedance control of Velma service robot redundant arm}},
  year = {2015},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  pages = {319--328},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  volume = {351},
  doi = {10.1007/978-3-319-15847-1_31},
  projects = {GrantMeDeRo},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/14-velma-two-mode-aut.pdf}
}
```
The previous research on reactive torque control of redundant arms led to conclusion, that initial arm kinematic configuration is vital for task executed with the use of Cartesian impedance control. To provide that, in the article the control system is proposed with the two following modes of impedance control of redundant manipulators: Joint space and Cartesian space. For this purpose the system was treated as embodied agent with two behaviors of its Virtual Effector (hardware abstraction layer). Each behavior has been decomposed to several components described by automatons and communicate asynchronously with upper layers of the control system. The whole system has been finally verified on real manipulator.
T. Winiarski and K. Banachowicz
Automated generation of component system for the calibration of the service robot kinematic parameters
in 20th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2015, 2015, pp. 1098–1103
[ BIB | DOI | abstract | URL ]
```
@inproceedings{winiarskimmar2015-twiki,
  author = {Winiarski, Tomasz and Banachowicz, Konrad},
  booktitle = {20th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2015},
  title = {Automated generation of component system for the calibration of the service robot kinematic parameters},
  year = {2015},
  pages = {1098--1103},
  publisher = {IEEE},
  doi = {10.1109/MMAR.2015.7284032},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2015/velma-calibration-2015.pdf},
  projects = {GrantMeDeRo},
  twiki = {article}
}
```
In the article we propose a fast and cheap strategy of service robot kinematic parameters calibration. Our method is based on sensors (cameras in particular) that are already mounted on the robot and inexpensive markers, that are easy to fix on the robot arms. We developed the method to compute the impact of manipulator velocity on markers localization error in camera image. Thanks to our method, the calibration data acquisition can be significantly shortened, because a certain, acceptable marker detection error threshold can be introduced that allows to acquire the data with non-zero velocity of the manipulator. Additionally, we propose a method of automatic component based data acquisition system generation, based on the embodied agent theory and tree like kinematic model representation of the robot. Our model is suitable for the most of service robots. The same model forms the base for an automatic generation of measure functions for cost functions used in the optimization process to find the optimal set of model parameters. The whole approach has been verified experimentally using Velma service robot.

C. Zieliński and T. Kornuta

An Object-Based Robot Ontology

in Proceedings of the 7th IEEE International Conference Intelligent Systems IS’2014, 2015, vol. 323, no. 3–14

[ BIB | DOI | URL ]

@inproceedings{Zielinski:2014_IS_ontology-twiki,
  author = {Zieliński, Cezary and Kornuta, Tomasz},
  booktitle = {Proceedings of the 7th IEEE International Conference Intelligent Systems IS’2014},
  title = {An Object-Based Robot Ontology},
  year = {2015},
  editor = {Filev, D. and Jabłkowski, J. and Kacprzyk, J. and Krawczak, M. and Popchev, I. and Rutkowski, L. and Sgurev, V. and Sotirova, E. and Szynkarczyk, P. and Zadrozny, S.},
  volume = {323},
  number = {3-14},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  publisher = {Springer},
  doi = {10.1007/978-3-319-11310-4_1},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/IS-14-object-relations_v1.pdf},
  projects = {GrantRobREx},
  isbn = {978-3-319-11309-8},
  owner = {tkornuta},
  timestamp = {2014.05.28},
  twiki = {inbook},
  zadanie = {pw11},
  note = {Zielinski}
}

C. Zieliński and T. Kornuta

Programowe struktury ramowe do tworzenia sterowników robotów

Pomiary – Automatyka – Robotyka PAR, vol. 19, no. 1, pp. 5–14, 2015

[ BIB | DOI ]

@article{Zielinski:2014_par_struktury_ramowe,
  author = {Zieliński, Cezary and Kornuta, Tomasz},
  journal = {Pomiary -- Automatyka -- Robotyka PAR},
  title = {{Programowe struktury ramowe do tworzenia sterowników robotów}},
  year = {2015},
  note = {Programming frameworks for development of robot controllers - Zielinski},
  number = {1},
  pages = {5-14},
  volume = {19},
  doi = {10.14313/PAR_215/5},
  owner = {tkornuta},
  timestamp = {2014.12.04},
  twiki = {journal}
}

C. Zieliński, W. Szynkiewicz, M. Figat, K. T. Szlenk M., W. Kasprzak, M. Stefańczyk, T. Zielińska, and J. Figat
Reconfigurable control architecture for exploratory robots
in 10th International Workshop on Robot Motion and Control (RoMoCo), 2015, pp. 130–135
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Zielinski:2015_RoMoCo-twiki,
  author = {Zieliński, Cezary and Szynkiewicz, Wojciech and Figat, Maksym and Szlenk, M., Kornuta T. and Kasprzak, Włodzimierz and Stefańczyk, Maciej and Zielińska, T. and Figat, Jan},
  booktitle = {10th International Workshop on Robot Motion and Control (RoMoCo)},
  title = {Reconfigurable control architecture for exploratory robots},
  year = {2015},
  editor = {K.~Kozłowski},
  pages = {130--135},
  organization = {IEEE},
  doi = {10.1109/RoMoCo.2015.7219724},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2015/RoMoCo-RAPP.pdf},
  conference = {romoco15},
  projects = {fp7rapp},
  twiki = {article},
  note = {Zielinski}
}
```
Robots have to perform diverse and complex tasks. To face the limitations of the computational capabilities of robot on-board control computer, it is required to split the control systems between the robot embedded and the cloud computational resources. This paper presents a reconfigurable control architecture for a robot designed to meet this requirement. The embedded computer hosts a core agent, which provides the task-independent robot capabilities. The task dependent part called the dynamic agent is loaded from the cloud when required. The two mentioned agents execute the task, additionally utilising the capabilities of the cloud. Once the task is finished the dynamic agent is destroyed and the core agent awaits new user demands, upon which it reacts by downloading a new dynamic agent. Thus a reconfigurable system results, limited only by the resources provided by the cloud. The system is presented on an example of a humanoid robot exploring a home environment in search for hazards resulting from negligence of people suffering from mild dementia.

2014

J. Figat, T. Kornuta, and W. Kasprzak

Performance Evaluation of Binary Descriptors of Local Features

in Proceedings of the International Conference on Computer Vision and Graphics, 2014, vol. 8671, pp. 187–194

[ BIB | DOI | URL ]

@inproceedings{Figat:2014_ICCVG,
  author = {Figat, Jan and Kornuta, Tomasz and Kasprzak, Włodzimierz},
  booktitle = {Proceedings of the International Conference on Computer Vision and Graphics},
  title = {Performance Evaluation of Binary Descriptors of Local Features},
  year = {2014},
  editor = {Chmielewski, Leszek and Kozera, Ryszard and Shin, Bok-Suk and Wojciechowski, Konrad},
  pages = {187--194},
  publisher = {Springer Berlin / Heidelberg},
  series = {Lecture Notes in Computer Science},
  volume = {8671},
  affiliation = {Institute of Control and Computation Engineering, Warsaw University of Technology, Nowowiejska 15/19, 00-665 Warsaw, Poland},
  doi = {10.1007/978-3-319-11331-9_23},
  projects = {fp7rapp},
  owner = {jfigat},
  timestamp = {2014.05.28},
  twiki = {inbook},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/feature-comparison.pdf}
}

M. Janiak and C. Zieliński

Platforma mobilna Rex – struktura układu sterowania

in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 194, no. 1, pp. 45–54

[ BIB | URL ]

@inproceedings{Janiak:2014_kkr_rex-twiki,
  author = {Janiak, Mariusz and Zieliński, Cezary},
  booktitle = {XIII Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Platforma mobilna Rex – struktura układu sterowania}},
  year = {2014},
  editor = {Tchoń, K. and Zieliński, Cezary},
  note = {Mobile Platform Rex -- Control System Architecture (in Polish) - Zielinski},
  number = {1},
  pages = {45-54},
  volume = {194},
  conference = {kkr13},
  projects = {GrantRobREx},
  lang = {pl},
  owner = {tkornuta},
  timestamp = {2014.12.02},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/mj_cz_kkr2014.pdf},
  zadanie = {pw11}
}

W. Kasprzak, T. Kornuta, and C. Zieliński

A virtual receptor in a robot control framework

in Recent Advances in Automation, Robotics and Measuring Techniques, 2014, vol. 267, pp. 399–408

[ BIB | URL ]

@inproceedings{Kasprzak:2014_automation_virtual_receptor-twiki,
  author = {Kasprzak, Włodzimierz and Kornuta, Tomasz and Zieliński, Cezary},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  title = {A virtual receptor in a~robot control framework},
  year = {2014},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  volume = {267},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  pages = {399-408},
  publisher = {Springer},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/2014_automation_virtual-receptor.pdf},
  projects = {GrantRobREx},
  owner = {tkornuta},
  timestamp = {2014.01.25},
  twiki = {inbook},
  zadanie = {pw12},
  note = {Zielinski}
}

K. Katerżawa

Młodzi Innowacyjni 2014. Innowacyjne rozwiązania w obszarze automatyki, robotyki i pomiarów

J. Kacprzyk, Ed. Przemysłowy Instytut Automatyki i Pomiarów PIAP, 2014, pp. 101–113

[ BIB ]

@inbook{Katerzawa:2014_mi,
  chapter = {Utilization of probabilistic inference in service robot perception},
  pages = {101--113},
  title = {Młodzi Innowacyjni 2014. Innowacyjne rozwiązania w obszarze automatyki, robotyki i pomiarów},
  publisher = {Przemysłowy Instytut Automatyki i Pomiarów PIAP},
  year = {2014},
  author = {Katerżawa, Karol},
  editor = {Kacprzyk, Janusz},
  note = {(Wykorzystanie wnioskowania probabilistycznego w percepcji robota usługowego)},
  projects = {Dziekanski2014Kornuta},
  owner = {tkornuta},
  timestamp = {2015.02.13},
  twiki = {inbook}
}

T. Kornuta, M. Stefańczyk, M. Laszkowski, M. Figat, J. Figat, and C. Zieliński

Obsługa asynchronicznego przepływu danych w komponentowych podsystemach percepcji robotów

Pomiary – Automatyka – Robotyka PAR, vol. 18, no. 5, pp. 127–133, 2014

[ BIB | DOI | abstract | URL ]

@article{Kornuta:2014_automation_discode,
  author = {Kornuta, Tomasz and Stefańczyk, Maciej and Laszkowski, Michał and Figat, Maksym and Figat, Jan and Zieliński, Cezary},
  journal = {Pomiary -- Automatyka -- Robotyka PAR},
  title = {{Obsługa asynchronicznego przepływu danych w~komponentowych podsystemach percepcji robotów}},
  year = {2014},
  note = {Asynchronous data flow handling in component-based robot perception subsystems - Zielinski},
  number = {5},
  pages = {127-133},
  volume = {18},
  doi = {10.14313/PAR_207/127},
  projects = {Dziekanski2013Kornuta},
  keywords = {discode},
  owner = {tkornuta},
  timestamp = {2014.01.25},
  twiki = {journal},
  url = {http://www.par.pl/Archiwum/2014/5-2014/Obsluga-asynchronicznego-przeplywu-danych-w-komponentowych-podsystemach-percepcji-robotow}
}

T. Kornuta, M. Stefańczyk, and W. Kasprzak
Basic 3D solid recognition in RGB-D images
in Recent Advances in Automation, Robotics and Measuring Techniques, 2014, vol. 267, pp. 421–430
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Kornuta:2014_automation_solid_recognition-twiki,
  author = {Kornuta, Tomasz and Stefańczyk, Maciej and Kasprzak, Włodzimierz},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  title = {{Basic 3D solid recognition in RGB-D images}},
  year = {2014},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  pages = {421-430},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  volume = {267},
  doi = {10.1007/978-3-319-05353-0_40},
  projects = {GrantRobREx},
  owner = {tkornuta},
  timestamp = {2014.01.25},
  twiki = {inbook},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/2014_automation_object-recognition.pdf}
}
```
The paper deals with the problem of recognition of 3D objects for the purpose of their subsequent grasping and manipulation by a two-handed robot. We describe the idea of a general framework for object recognition rooted in the compositional model of the world. This approach threats complex objects as entities constructed of simpler, elementary ones, termed solids. In particular, we focus on recognition of two types of such solids: cuboids and generalized cones. We present details of their operation, starting from the low-level processing of RGB-D images and ending with the generation of hypotheses regarding the presence and parameters of those types of solids.
T. Kornuta, T. Winiarski, and C. Zieliński
Ontologia robotów manipulacyjnych cz. I: robot
in Aktualne Problemy Automatyki i Robotyki, 2014, vol. 20, pp. 320–331
[ BIB | abstract | URL ]
```
@inproceedings{Kornuta:2014_kka_ontologia1-twiki,
  author = {Kornuta, Tomasz and Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {Aktualne Problemy Automatyki i Robotyki},
  title = {{Ontologia robotów manipulacyjnych cz. I: robot}},
  year = {2014},
  editor = {Mianowski, Krzysztof and Józefczyk, Jerzy and Świątek, Jerzy},
  note = {Ontology for manipulation robots. Part 1: the robot - Zielinski},
  pages = {320--331},
  publisher = {EXIT},
  series = {Monografie Komitetu Automatyki i Robotyki Polskiej Akademii Nauk},
  volume = {20},
  conference = {kka13},
  projects = {GrantRobREx},
  lang = {pl},
  owner = {tkornuta},
  timestamp = {2014.05.28},
  twiki = {inbook},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/2014_kka_ontologia-cz1.pdf},
  zadanie = {pw11}
}
```
Roboty usługowe operują w tym samym środowisku, w którym bytują ludzie. W związku z tym, zadania, które człowiek zleca robotom do wykonania, a w szczególności te wymagające manipulacji, muszą być wyrażane za pomocą pojęć występujących w tego typu złożonych środowiskach. Zestaw tych pojęć (kategorii), ich konkretnych przykładów oraz relacji między tymi pojęciami stanowi ontologię. Aby zadanie sformułowane za pomocą pojęć występujących w zdefiniowanej ontologii można było wyrazić w kategoriach podstawowych czynności, które robot jest w stanie wykonać, także pojęcia związane z robotem muszą być reprezentowane w tej ontologii. Ta dwuczęściowa praca przedstawia propozycję takiej ontologii. Część I koncentruje się na robocie, podczas gdy część II na środowisku robota. Pojęcia występujące w ontologii zostały tak dobrane, aby opis zadania w kategoriach relacji między obiektami znajdującymi się w środowisku, był łatwy w transformacji na zestaw podstawowych czynności realizowanych przez robota. Aby umożliwić w przyszłości automatyczną translację, zastosowano formalną specyfikację użytych pojęć.
T. Kornuta, C. Zieliński, and T. Winiarski
Ontologia robotów manipulacyjnych cz. II: środowisko
in Aktualne Problemy Automatyki i Robotyki, 2014, vol. 20, pp. 332–341
[ BIB | abstract | URL ]
```
@inproceedings{Kornuta:2014_kka_ontologia2-twiki,
  author = {Kornuta, Tomasz and Zieliński, Cezary and Winiarski, Tomasz},
  booktitle = {Aktualne Problemy Automatyki i Robotyki},
  title = {{Ontologia robotów manipulacyjnych cz. II: środowisko}},
  year = {2014},
  editor = {Mianowski, Krzysztof and Józefczyk, Jerzy and Świątek, Jerzy},
  note = {Ontology for manipulation robots. Part 2: the environment - Zielinski},
  pages = {332--341},
  publisher = {EXIT},
  series = {Monografie Komitetu Automatyki i Robotyki Polskiej Akademii Nauk},
  volume = {20},
  conference = {kka13},
  projects = {GrantRobREx},
  lang = {pl},
  owner = {tkornuta},
  timestamp = {2014.05.28},
  twiki = {inbook},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/2014_kka_ontologia-cz2.pdf},
  zadanie = {pw11}
}
```
Zadania, które człowiek zleca robotom, a w szczególności te manipulacyjne, muszą być wyrażane za pomocą pojęć związanych ze środowiskami bytowania ludzi. Ontologię stanowi zestaw pojęć (kategorii), ich konkretnych przykładów oraz relacji między tymi pojęciami. Aby zadanie sformułowane za pomocą tworów występujących w zdefiniowanej ontologii można było wyrazić jako czynności, które robot jest w stanie wykonać, także pojęcia związane z robotem muszą być reprezentowane w ontologii. Ta dwuczęściowa praca przedstawia propozycję takiej ontologii. Część I koncentrowała się na robocie, podczas gdy część II na jego środowisku. Pojęcia występujące w ontologii zostały tak dobrane, aby opis zadania w kategoriach relacji między obiektami znajdującymi się w środowisku, był łatwy w transformacji na zestaw podstawowych czynności realizowanych przez robota. Aby umożliwić w przyszłości automatyczną translację, zastosowano formalną specyfikację użytych pojęć.
T. Kornuta, M. Laszkowski, A. Wilkowski, Ł. Żmuda, and K. Katerżawa
Rozpoznawanie obiektów w obrazach RGB-D: generacja modeli obiektów
in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 194, no. 1, pp. 277–286
[ BIB | abstract | URL ]
```
@inproceedings{Kornuta:2014_kkr_generacja-twiki,
  author = {Kornuta, Tomasz and Laszkowski, Michał and Wilkowski, Artur and Żmuda, Łukasz and Katerżawa, Karol},
  booktitle = {XIII Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Rozpoznawanie obiektów w obrazach RGB-D: generacja modeli obiektów}},
  year = {2014},
  editor = {Tchoń, K. and Zieliński, Cezary},
  note = {{Recognition of objects in RGB-D images: generation of models of objects (in Polish)}},
  number = {1},
  pages = {277--286},
  series = {Prace Naukowe – Elektronika},
  volume = {194},
  conference = {kkr13},
  projects = {GrantMeDeRo},
  lang = {pl},
  owner = {tkornuta},
  timestamp = {2014.02.11},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/rozpoznawanie-obiektow-modele-kkr13.pdf}
}
```
Czujniki RGB-D zwracające obrazy kolorowe wraz ze skojarzonymi mapami głębi otwierają nowe możliwości w percepcji robotów. W dwuczęściowym artykule skupiono uwagę na rozpoznawaniu obiektów w obrazach zwracanych przez tego typu urządzenia. W poniższej, pierwszej części skupiono uwagę na generacji modeli obiektów trójwymiarowych. Zaprezentowano stworzone stanowisko do akwizycji różnych widoków obiektów oraz omówiono proces tworzenia modeli poprzez łączenie tych widoków. Ideę jego działania oparto o przekształcenie obrazu RGB-D do postaci chmury punktów oraz ekstrakcję cech. Stworzone modele wykorzystywane są następnie do rozpoznawania konkretnych instancji obiektów z wykorzystaniem metod probabilistycznych, czemu poświęcono druga część artykułu.
T. Kornuta, K. Katerżawa, and M. Laszkowski
Rozpoznawanie obiektów w obrazach RGB-D: wnioskowanie probabilistyczne
in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 194, no. 1, pp. 287–296
[ BIB | abstract | URL ]
```
@inproceedings{Kornuta:2014_kkr_wnioskowanie-twiki,
  author = {Kornuta, Tomasz and Katerżawa, Karol and Laszkowski, Michał},
  booktitle = {XIII Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Rozpoznawanie obiektów w obrazach RGB-D: wnioskowanie probabilistyczne}},
  year = {2014},
  editor = {Tchoń, K. and Zieliński, Cezary},
  note = {{Recognition of objects in RGB-D images: probabilistic inference (in Polish)}},
  number = {1},
  pages = {287--296},
  series = {Prace Naukowe – Elektronika},
  volume = {194},
  conference = {kkr13},
  projects = {GrantMeDeRo},
  lang = {pl},
  owner = {tkornuta},
  timestamp = {2014.02.11},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/rozpoznawanie-obiektow-wnioskowanie-kkr13.pdf}
}
```
Czujniki RGB-D zwracające obrazy kolorowe wraz ze skojarzonymi mapami głębi otwierają nowe możliwości w percepcji robotów. W dwuczęściowym artykule skupiono uwagę na rozpoznawaniu obiektów w obrazach zwracanych przez tego typu urządzenia. W poniższej, pierwszej części skupiono uwagę na generacji modeli obiektów trójwymiarowych. Zaprezentowano stworzone stanowisko do akwizycji różnych widoków obiektów oraz omówiono proces tworzenia modeli poprzez łączenie tych widoków. Ideę jego działania oparto o przekształcenie obrazu RGB-D do postaci chmury punktów oraz ekstrakcję cech. Stworzone modele wykorzystywane są następnie do rozpoznawania konkretnych instancji obiektów z wykorzystaniem metod probabilistycznych, czemu poświęcono druga część artykułu.

T. Kornuta

Młodzi Innowacyjni 2014. Innowacyjne rozwiązania w obszarze automatyki, robotyki i pomiarów

J. Kacprzyk, Ed. Przemysłowy Instytut Automatyki i Pomiarów PIAP, 2014, pp. 114–137

[ BIB ]

@inbook{Kornuta:2014_mi,
  chapter = {Projektowanie układów sterowania robotów wykorzystujących aktywną wizję},
  pages = {114-137},
  title = {Młodzi Innowacyjni 2014. Innowacyjne rozwiązania w obszarze automatyki, robotyki i pomiarów},
  publisher = {Przemysłowy Instytut Automatyki i Pomiarów PIAP},
  year = {2014},
  author = {Kornuta, Tomasz},
  editor = {Kacprzyk, Janusz},
  note = {Design of Robot Control Systems Using Active Vision (in Polish)},
  projects = {GrantRobREx},
  owner = {tkornuta},
  timestamp = {2015.02.13},
  twiki = {inbook}
}

T. Kornuta and M. Stefańczyk

Akwizycja obrazów RGB-D: czujniki

Pomiary – Automatyka – Robotyka PAR, vol. 18, no. 2, pp. 92–99, 2014

[ BIB | DOI | abstract | URL ]

@article{Kornuta:2014_par_rgbd_czujniki-twiki,
  author = {Kornuta, Tomasz and Stefańczyk, Maciej},
  journal = {Pomiary -- Automatyka -- Robotyka PAR},
  title = {{Akwizycja obrazów RGB-D: czujniki}},
  year = {2014},
  note = {Acquisition of RGB-D images: sensors (in Polish)},
  number = {2},
  pages = {92-99},
  volume = {18},
  doi = {10.14313/PAR_204/92},
  projects = {Dziekanski2013Kornuta},
  owner = {tkornuta},
  timestamp = {2014.01.25},
  twiki = {journal},
  url = {http://www.par.pl/Archiwum/2014/2-2014/Akwizycja-obrazow-RGB-D-czujniki}
}

F. Psomopoulos, E. Tsardoulias, A. Giokas, C. Zieliński, V. Prunet, I. Trochidis, D. Daney, M. Serrano, L. Courtes, S. Arampatzis, and P. A. Mitkas

RAPP System Architecture

in Third International Workshop on Assistance and Service Robotics in a Human Environment ASROB-2014. Workshop in conjunction with IEEE/RSJ International Conference on Intelligent Robots and Systems IROS 2014, 2014, pp. 14–18

[ BIB ]

@inproceedings{Psomopoulos:2014_iros-twiki,
  author = {Psomopoulos, Fotis and Tsardoulias, Emmanouil and Giokas, Alexandros and Zieliński, Cezary and Prunet, Vincent and Trochidis, Ilias and Daney, David and Serrano, Manuel and Courtes, Ludovic and Arampatzis, Stratos and Mitkas, Pericles A.},
  booktitle = {Third International Workshop on Assistance and Service Robotics in a Human Environment ASROB-2014. Workshop in conjunction with IEEE/RSJ International Conference on Intelligent Robots and Systems IROS 2014},
  title = {RAPP System Architecture},
  year = {2014},
  pages = {14--18},
  publisher = {IEEE},
  projects = {fp7rapp},
  owner = {tkornuta},
  timestamp = {2014.12.04},
  twiki = {article},
  note = {Zielinski}
}

D. Seredyński, T. Winiarski, K. Banachowicz, and C. Zieliński
Sterownik chwytaka trójpalczastego
in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 1, pp. 15–24
[ BIB | abstract | URL ]
```
@inproceedings{Seredynski:2014_kkr_chwytak-twiki,
  author = {Seredyński, Dawid and Winiarski, Tomasz and Banachowicz, Konrad and Zieliński, Cezary},
  booktitle = {XIII Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Sterownik chwytaka trójpalczastego}},
  year = {2014},
  note = {Zielinski},
  pages = {15--24},
  volume = {1},
  conference = {kkr13},
  projects = {GrantRobREx},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/barrett-kkr13.pdf},
  zadanie = {pw11}
}
```
Praca przedstawia specyfikację i implementację układu sterowania chwytakiem trójpalczastym BarrettHand. Opis struktury układu sterowania wykorzystuje podział agenta upostaciowionego na podsystem sterowania, odpowiedzialny za realizacje zadania, oraz efektor wirtualny, który odpowiedzialny jest za bezpośrednie sterowanie sprzętem. Działanie wirtualnego efektora opisuje automat skończony, z którego stanami skojarzono zachowania, które z kolei zdefiniowano za pomocą funkcji przejść określonych na argumentach stanowiących bufory wejściowe tego modułu. Opisano również wstępne eksperymenty związane ze sterowaniem chwytaka, wskazujące na brak stabilności termicznej odczytów ze sztucznej skóry. W związku z tym wprowadzono okresową kalibrację.
M. Stefańczyk and T. Kornuta
Handling of asynchronous data flow in robot perception subsystems
in Simulation, Modeling, and Programming for Autonomous Robots, 2014, vol. 8810, pp. 509–520
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Stefanczyk:2014_discode_simpar,
  author = {Stefańczyk, Maciej and Kornuta, Tomasz},
  booktitle = {Simulation, Modeling, and Programming for Autonomous Robots},
  title = {Handling of asynchronous data flow in robot perception subsystems},
  year = {2014},
  volume = {8810},
  series = {Lecture Notes in Computer Science},
  pages = {509-520},
  publisher = {Springer},
  doi = {10.1007/978-3-319-11900-7_43},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/discode.pdf},
  projects = {GrantMeDeRo},
  isbn = {978-3-319-11899-4},
  keywords = {discode},
  owner = {tkornuta},
  timestamp = {2014.07.17},
  twiki = {inbook}
}
```
Robot perception subsystems typically form complex networks, with boxes representing computations and arrows presenting the exchanged data. Taking into account that data acquired from robot sensors may arrive with different frequencies, as well as that computations may by performed on different processor cores, a problem of handling of asynchronous data flows appears. Hence appropriate tools facilitating the implementation are highly demanded. In this article we propose a solution to the aforementioned problem, enabling the activation of a conditional behaviour of a given computational block, depending on the presence of data in its input buffers. Theoretical considerations led to the implementation of these mechanisms in a component-oriented framework for development of robot perception subsystems: DisCODe. Operation of the solution was verified on an exemplary perception subsystem using RGB-D camera.
M. Stefańczyk and T. Kornuta
Akwizycja obrazów RGB-D: metody
Pomiary – Automatyka – Robotyka PAR, vol. 18, no. 1, pp. 82–90, 2014
[ BIB | DOI | abstract | URL ]
```
@article{Stefanczyk:2014_par_rgbd_metody,
  author = {Stefańczyk, Maciej and Kornuta, Tomasz},
  journal = {Pomiary -- Automatyka -- Robotyka PAR},
  title = {{Akwizycja obrazów RGB-D: metody}},
  year = {2014},
  note = {Acquisition of RGB-D images: methods (in Polish)},
  number = {1},
  pages = {82--90},
  volume = {18},
  doi = {10.14313/PAR_203/82},
  projects = {GrantMeDeRo},
  owner = {tkornuta},
  timestamp = {2014.01.25},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/13-rgbd-metody.pdf}
}
```
Dwuczęściowy artykuł poświęcono czujnikom umożliwiającym akwizycję chmur punktów oraz map głębi. W poniższej, pierwszej części uwagę skupiono na trzech głównych metodach pomiarowych: stereowizji, świetle strukturalnym oraz pomiarze czasu lotu wiązki jako tych, które sa najpowszechniej stosowane w robotyce. Poza zasadą działania każdej z metod przeanalizowano także ich właściwości, złożoność obliczeniową oraz potencjalne zastosowania.
M. Stefańczyk and M. Walęcki
Localization of essential door features for mobile manipulation
in Recent Advances in Automation, Robotics and Measuring Techniques, 2014, vol. 267, pp. 487–496
[ BIB | DOI | abstract | URL ]
```
@inproceedings{stefanczyk2014localization-twiki,
  author = {Stefańczyk, Maciej and Walęcki, Michał},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  title = {Localization of essential door features for mobile manipulation},
  year = {2014},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  volume = {267},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  pages = {487--496},
  publisher = {Springer},
  doi = {10.1007/978-3-319-05353-0_46},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/13-door-rec-aut.pdf},
  projects = {GrantMeDeRo},
  twiki = {inbook}
}
```
In this paper, we present a control system of a robot actively detecting and labeling door features, such as handle, lock or door plate. System is described using agent-based approach, with clear division into control, effector and receptor subsystems, with most important parts deeply explained. Presented approach supplements gap between door detection and opening algorithms, giving a robot the ability to take more actions, like recognizing room number or opening door lock.
M. Stefańczyk, M. Walęcki, K. Banachowicz, and T. Winiarski
Robot usługowy Velma – projekt i konstrukcja głowy
in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 2, pp. 451–460
[ BIB | abstract | URL ]
```
@inproceedings{stefanczyk2014robotkkr13-twiki,
  author = {Stefańczyk, Maciej and Walęcki, Michał and Banachowicz, Konrad and Winiarski, Tomasz},
  booktitle = {XIII Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Robot usługowy Velma -- projekt i konstrukcja głowy}},
  year = {2014},
  pages = {451--460},
  volume = {2},
  conference = {kkr13},
  projects = {GrantMeDeRo},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/velma-glowa-kkr13.pdf}
}
```
Robot usługowy Velma jest nową konstrukcją, powstającą w Zespole Programowania Robotów i Systemów Rozpoznających Politechniki Warszawskiej. W niniejszym artykule uwaga skupiona jest na projekcie i konstrukcji jego głowy. Proces powstawania głowy omówiono kompleksowo, zaczynając od analizy istniejących konstrukcji oraz specyfikacji wymagań. Z nich wynika zastosowana konstrukcja mechaniczna oraz wykorzystywany układ sensoryczny, których sterowanie opisane zostało dodatkowo w sposób formalny. Działanie zbudowanego urządzenia zostało już częściowo zweryfikowane aplikacyjnie.

W. Szynkiewicz

Synteza chwytu przy niepewności pozycji obiektu

in Postępy robotyki, vol. 1,

Oficyna Wydawnicza PW, 2014, pp. 25–34

[ BIB | URL ]

@incollection{Szynkiewicz:2014-KKR-twiki,
  author = {Szynkiewicz, Wojciech},
  title = {Synteza chwytu przy niepewności pozycji obiektu},
  booktitle = {Postępy robotyki},
  publisher = {Oficyna Wydawnicza PW},
  year = {2014},
  volume = {1},
  pages = {25-34},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/synteza_chwytu-kkr2014.pdf},
  projects = {GrantRobREx},
  owner = {tkornuta},
  timestamp = {2014.11.27},
  twiki = {inbook},
  zadanie = {pw11}
}

M. Walęcki, K. Banachowicz, M. Stefańczyk, T. Winiarski, R. Chojecki, and C. Zieliński
Korpus robota usługowego Velma
in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 1, pp. 5–14
[ BIB | abstract | URL ]
```
@inproceedings{Walecki:2014_kkr_korpus-twiki,
  author = {Walęcki, Michał and Banachowicz, Konrad and Stefańczyk, Maciej and Winiarski, Tomasz and Chojecki, Rafał and Zieliński, Cezary},
  booktitle = {XIII Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Korpus robota usługowego Velma}},
  year = {2014},
  note = {Zielinski},
  pages = {5--14},
  volume = {1},
  conference = {kkr13},
  projects = {GrantRobREx},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/velma-korpus-kkr13.pdf},
  zadanie = {pw11}
}
```
Dwuręczny robot Velma jest wykorzystywany w badaniach z dziedziny robotyki usługowej, prowadzonych w Zespole Programowania Robotów i Systemów Rozpoznających Politechniki Warszawskiej. Niniejszy artykuł opisuje poszukiwanie koncepcji zwiększenia przestrzeni roboczej manipulatorów robota oraz jego przebudowę. Wyposażenie robota Velma w korpus o dwóch stopniach swobody rozszerzyło jego możliwości manipulacyjne, umożliwiając m.in. jego wykorzystanie w zadaniach związanych z otwieraniem pełnowymiarowego skrzydła drzwi wejściowych oraz manipulowanie obiektami leżącymi na stole. Dodanie obrotu korpusu do struktury robota sterowanego momentowo otworzyło nowe możliwości w badaniach nad wykorzystaniem sterowania impedancyjnego w robotyce usługowej.
T. Winiarski and M. Walęcki
Motor cascade position controllers for service oriented manipulators
in Recent Advances in Automation, Robotics and Measuring Techniques, 2014, vol. 267, pp. 533–542
[ BIB | DOI | abstract | URL ]
```
@inproceedings{winiarski2014automation-twiki,
  author = {Winiarski, Tomasz and Walęcki, Michał},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  title = {{Motor cascade position controllers for service oriented manipulators}},
  year = {2014},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  pages = {533--542},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  volume = {267},
  doi = {10.1007/978-3-319-05353-0_50},
  projects = {GrantMeDeRo},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/13-con-aut.pdf}
}
```
In the article a method is proposed to achieve some advantages of impedance control in the manipulators without direct torque controllers in joints, that is with indirect position–force control, position controlled joints and force–torque sensor in the wrist. The method is applicable to robots with backdrivable gears, where the external force exerted on the links causes the joints movement. The approach improves safety behaviour of a manipulator without the need for major changes in the hardware nor building a new robot, which is very important especially from the point of view of research systems.
T. Winiarski and K. Banachowicz
Sterowanie redundantnym systemem dwuramiennym z aktywnym korpusem
in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 2, pp. 433–442
[ BIB | abstract | URL ]
```
@inproceedings{winiarski-sterowanie-dr-kkr13-twiki,
  author = {Winiarski, Tomasz and Banachowicz, Konrad},
  booktitle = {XIII Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Sterowanie redundantnym systemem dwuramiennym z aktywnym korpusem}},
  year = {2014},
  pages = {433--442},
  volume = {2},
  conference = {kkr13},
  projects = {GrantMeDeRo},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/sterowanie-systemem-dwuramiennym-kkr13.pdf}
}
```
Artykuł prezentuje systemem sterowania redundantego robota dwuramiennego z aktywnym korpusem. Do projektu wybrano manipulatory KUKA-LWR4+ oraz korpus o dwóch aktywnych stopniach swobody. Sterownik robota oparto o podejście agentowe oraz sterowanie impedancyjne. Uwzględnia ono typową definicję zadania w przestrzeni zewnętrznej, korektę postury, ograniczenia manipulatorów w przestrzeni konfiguracyjnej oraz specyficzną konstrukcją korpusu sterowanego admitancyjnie i prądowo.

C. Zieliński and T. Kornuta

Specification of Tasks in Terms of Object-level Relations for a Two-handed Robot

in Recent Advances in Automation, Robotics and Measuring Techniques, 2014, vol. 267, pp. 543–552

[ BIB | URL ]

@inproceedings{Zielinski:2014_automation_specification-twiki,
  author = {Zieliński, Cezary and Kornuta, Tomasz},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  title = {Specification of Tasks in Terms of Object-level Relations for a~Two-handed Robot},
  year = {2014},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  volume = {267},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  pages = {543-552},
  publisher = {Springer},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/2014_automation_HLTaskSpec.pdf},
  projects = {GrantRobREx},
  owner = {tkornuta},
  timestamp = {2014.01.25},
  twiki = {inbook},
  zadanie = {pw11},
  note = {Zielinski}
}

C. Zieliński and T. Kornuta

Ontologia na potrzeby sterowania robotem usługowym

in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 194, no. 1, pp. 493–502

[ BIB | URL ]

@inproceedings{Zielinski:2014_kkr_relacje-twiki,
  author = {Zieliński, Cezary and Kornuta, Tomasz},
  booktitle = {XIII Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Ontologia na potrzeby sterowania robotem usługowym}},
  year = {2014},
  editor = {Tchoń, K. and Zieliński, Cezary},
  note = {Ontology for the purpose of control of a service robot - Zielinski},
  number = {1},
  pages = {493-502},
  volume = {194},
  conference = {kkr13},
  projects = {GrantRobREx},
  lang = {pl},
  owner = {tkornuta},
  timestamp = {2014.02.11},
  twiki = {inbook},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/2014_kkr_obiekty-relacje.pdf},
  zadanie = {pw11}
}

C. Zieliński and T. Kornuta
Diagnostic Requirements in Multi-robot Systems
in Intelligent Systems in Technical and Medical Diagnostics, vol. 230,
Springer, 2014, pp. 345–356
[ BIB | DOI | abstract | URL ]
```
@incollection{zielinski2014diagnostic,
  author = {Zieliński, Cezary and Kornuta, Tomasz},
  title = {Diagnostic Requirements in Multi-robot Systems},
  booktitle = {Intelligent Systems in Technical and Medical Diagnostics},
  publisher = {Springer},
  year = {2014},
  volume = {230},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  pages = {345--356},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/2014_dps_diagnostics.pdf},
  doi = {10.1007/978-3-642-39881-0_29},
  projects = {GrantMeDeRo},
  isbn = {978-3-642-39880-3},
  owner = {tkornuta},
  timestamp = {2013.10.03},
  twiki = {inbook},
  note = {Zielinski}
}
```
The paper presents a generic robot control architecture facilitating the collection of data for the purpose of diagnostics. Each robot within the system is treated as an embodied agent composed of effectors, receptors and a control system. Its behaviour is described in terms of transition functions and: initial, terminal and error conditions. Data within such systems can be collected at the control system sampling rate, thus both continuous monitoring and event driven one are possible.
C. Zieliński, T. Kornuta, and T. Winiarski
A Systematic Method of Designing Control Systems for Service and Field Robots
in 19-th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2014, 2014, pp. 1–14
[ BIB | DOI | abstract | URL ]
```
@inproceedings{ZielinskiMMAR2014-twiki,
  author = {Zieliński, Cezary and Kornuta, Tomasz and Winiarski, Tomasz},
  booktitle = {19-th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2014},
  title = {A~Systematic Method of Designing Control Systems for Service and Field Robots},
  year = {2014},
  pages = {1-14},
  publisher = {IEEE},
  doi = {10.1109/MMAR.2014.6957317},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/robot-control-system-design.pdf},
  projects = {GrantRobREx},
  owner = {tkornuta},
  timestamp = {2014.07.17},
  twiki = {article},
  note = {Zielinski}
}
```
The paper presents a systematic approach to robot control system design. The robot is treated as an embodied agent decomposed into effectors, receptors, both real and virtual, and a control subsystem. Those entities communicate through communication buffers. The activities of those entities are governed by FSMs that invoke behaviours formulated in terms of transition functions taking as arguments the contents of input buffers and producing the values inserted into output buffers. The method is exemplified by applying it to a design of a control system of a robot capable of locating an open box and covering it with a lid. Other systems that have been designed in a similar way are presented as well, to demonstrate the versatility of the approach.
T. Zielińska, W. Kasprzak, C. Zieliński, and W. Szynkiewicz
Distributing the Supporting Heads for Robotized Machining
in Advances on Theory and Practice of Robots and Manipulators, Cham, 2014, pp. 509–517
[ BIB | DOI | abstract ]
```
@inproceedings{zielinska:2014,
  author = {Zielińska, Teresa and Kasprzak, Włodzimierz and Zieliński, Cezary and Szynkiewicz, Wojciech},
  editor = {Ceccarelli, Marco and Glazunov, Victor A.},
  title = {Distributing the Supporting Heads for Robotized Machining},
  booktitle = {Advances on Theory and Practice of Robots and Manipulators},
  year = {2014},
  publisher = {Springer International Publishing},
  address = {Cham},
  pages = {509--517},
  isbn = {978-3-319-07058-2},
  doi = {https://doi.org/10.1007/978-3-319-07058-2_57},
  note = {Zielinski}
}
```
The paper presents a method of placement for the movable supporting heads of a self-reconfigurable robotic fixture system. The whole system consists of two mobile platforms carrying parallel type manipulators equipped with deformable heads. The heads are providing the dynamic support for large flexible workpieces during machining. The two heads consecutively relocate and affix themselves to the supported thin metal sheet, so that one of them supports the workpiece while the other relocates itself in such a way as to precede the working tool. The method for heads positioning for circular contours is presented. Formulas are derived and the results are summarized.

C. Zieliński and T. Kornuta

Ontologia na potrzeby sterowania robotem usługowym

Prace Naukowe Politechniki Warszawskiej. Elektronika, vol. z. 194, t. 2, pp. 493–502, 2014

[ BIB ]

@article{zielinski:2014_ontologia,
  author = {Zieliński, Cezary and Kornuta, Tomasz},
  title = {Ontologia na potrzeby sterowania robotem usługowym},
  journal = {Prace Naukowe Politechniki Warszawskiej. Elektronika},
  volume = {z. 194, t. 2},
  year = {2014},
  pages = {493--502},
  note = {Zielinski}
}

M. Janiak and C. Zieliński

Platforma mobilna Rex – struktura układu sterowania)

in XIII Krajowa Konferencja Robotyki. Kudowa Zdrój, 2014, vol. 194, no. 1, pp. 45–54

[ BIB ]

@inproceedings{Janiak:2014_kkr_rex,
  author = {Janiak, Mariusz and Zieliński, Cezary},
  title = {Platforma mobilna Rex – struktura układu sterowania)},
  booktitle = {XIII Krajowa Konferencja Robotyki. Kudowa Zdrój},
  year = {2014},
  editor = {Tchoń, K. and Zieliński, C.},
  volume = {194},
  number = {1},
  series = {Postępy robotyki. Prace Naukowe – Elektronika},
  pages = {45--54},
  note = {Zielinski}
}

W. Kasprzak, T. Kornuta, and C. Zieliński

A Virtual Receptor in a Robot Control Framework

in Recent Advances in Automation, Robotics and Measuring Techniques, Cham, 2014, pp. 399–408

[ BIB | DOI ]

@inproceedings{kasprzak:2014_vr,
  author = {Kasprzak, Włodzimierz and Kornuta, Tomasz and Zieliński, Cezary},
  editor = {Szewczyk, Roman and Zieli{\'{n}}ski, Cezary and Kaliczy{\'{n}}ska, Ma{\l}gorzata},
  title = {A Virtual Receptor in a Robot Control Framework},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  year = {2014},
  publisher = {Springer International Publishing},
  address = {Cham},
  pages = {399--408},
  isbn = {978-3-319-05353-0},
  doi = {https://doi.org/10.1007/978-3-319-05353-0_38},
  note = {Zielinski}
}

C. Zieliński and T. Kornuta

Specification of Tasks in Terms of Object-Level Relations for a Two-Handed Robot

in Recent Advances in Automation, Robotics and Measuring Techniques, Cham, 2014, pp. 543–552

[ BIB | DOI ]

@inproceedings{zielinski:2014_specification_tasks,
  author = {Zieliński, Cezary and Kornuta, Tomasz},
  editor = {Szewczyk, Roman and Zieli{\'{n}}ski, Cezary and Kaliczy{\'{n}}ska, Ma{\l}gorzata},
  title = {Specification of Tasks in Terms of Object-Level Relations for a Two-Handed Robot},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  year = {2014},
  publisher = {Springer International Publishing},
  address = {Cham},
  pages = {543--552},
  isbn = {978-3-319-05353-0},
  doi = {https://doi.org/10.1007/978-3-319-05353-0_51},
  note = {Zielinski}
}

T. Zielińska, W. Kasprzak, W. Szynkiewicz, and C. Zieliński

Path Planning for Robotized Mobile Supports

Journal of Mechanism and Machine Theory, vol. 78, pp. 51–64, 2014

[ BIB | DOI ]

@article{zielinska:2014_path,
  author = {Zielińska, Teresa and Kasprzak, Włodzimierz and Szynkiewicz, Wojciech and Zieliński, Cezary},
  title = {Path Planning for Robotized Mobile Supports},
  journal = {Journal of Mechanism and Machine Theory},
  year = {2014},
  volume = {78},
  pages = {51--64},
  doi = {https://doi.org/10.1016/j.mechmachtheory.2014.03.004},
  note = {Zielinski}
}

2013

T. Winiarski and K. Banachowicz
System akwizycji skorygowanej siły uogólnionej kontaktu robota manipulacyjnego z otoczeniem
Pomiary Automatyka Robotyka, no. 2, pp. 390–394, 2013
[ BIB | abstract | URL ]
```
@article{imu-automation-13-eng-twiki,
  author = {Winiarski, Tomasz and Banachowicz, Konrad},
  journal = {Pomiary Automatyka Robotyka},
  title = {{System akwizycji skorygowanej siły uogólnionej kontaktu robota manipulacyjnego z otoczeniem}},
  year = {2013},
  note = {The acquisition system of general force of contact between robotic manipulator and the environment (in~Polish)},
  number = {2},
  pages = {390-394},
  projects = {GrantRobREx},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/imu_automation_2013.pdf},
  zadanie = {pw11}
}
```
W artykule zaprezentowano system akwizycji skorygowanej siły uogólnionej kontaktu narzędzia manipulatora z otoczeniem oparty o nadgarstkowy czujnik sił i momentów sił oraz dodatkową jednostkę inercyjną. Opracowany system z jednej strony eliminuje w znacznym stopniu błędy związane z wpływem ciężaru narzędzia, siły grawitacji a nawet sił bezwładności, z drugiej przeznaczony jest do współpracy z tanimi i sprawdzonym manipulatorami przemysłowymi, czyniąc je platformami badawczymi robotyki usługowej.
W. Kasprzak, M. Stefańczyk, and J. Popiołkiewicz
The Print-Scan Problem in Printed Steganography of Face Images
in Proceedings of the 8th International Conference on Computer Recognition Systems CORES 2013, 2013, vol. 226, pp. 491–500
[ BIB | DOI | abstract ]
```
@inproceedings{kasprzak2013print-twiki,
  author = {Kasprzak, Włodzimierz and Stefańczyk, Maciej and Popiołkiewicz, Jan},
  booktitle = {Proceedings of the 8th International Conference on Computer Recognition Systems CORES 2013},
  title = {The Print-Scan Problem in Printed Steganography of Face Images},
  year = {2013},
  volume = {226},
  series = {Advances in Intelligent Systems and Computing},
  pages = {491--500},
  publisher = {Springer},
  twiki = {article},
  doi = {10.1007/978-3-319-00969-8_48}
}
```
The use of steganography and watermarking techniques for a secure identification and automatic authentication of the holder’s photo in an ICAO-consistent (travel) document is proposed. A specific distortion of the hidden watermarks is caused by the print-scan process, as a printed photo is scanned to constitute the reference pattern in face verification. The main distortions induced by this process are identified - image rotation and cropping, nonlinear intensity change and additive color quantization noise. Three steganography methods are selected and adapted for this application. They provide hidden watermark insertion in the image domain, the Fourier-Mellin transform domain or in a net of normalized triangle regions. Test results induce the conditions for the proper use of these methods.
T. Kornuta and Ł. Żmuda
Specification of the structure and behaviours of a robotic system able to determine object convexity
in 18th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2013, 2013, pp. 350–355
[ BIB | DOI | abstract | URL ]
```
@inproceedings{kornuta2013specification,
  author = {Kornuta, Tomasz and Żmuda, Łukasz},
  booktitle = {18th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2013},
  title = {Specification of the structure and behaviours of a~robotic system able to determine object convexity},
  year = {2013},
  pages = {350-355},
  publisher = {IEEE},
  doi = {10.1109/MMAR.2013.6669932},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/2013_mmar_tkornuta_behaviour_selection.pdf},
  projects = {GrantMeDeRo},
  owner = {tkornuta},
  timestamp = {2013.10.03},
  twiki = {article}
}
```
The paper focuses on the problem of design of robotic controllers able to perform complex service tasks. The proposed approach, rooted in the embodied agent concept, enables the definition of both the structure and behaviour of the system. The supplementing each other mathematical and graphical notations along with the multi-level decomposition enable the specification of the system in details facilitating its implementation. The approach is validated on a non-trivial task of determination of object convexity. The presented results of experimental verification prove both the correctness of the designed system and the usefulness of the approach.

D. Seredyński and T. Winiarski

Robot mobilny o zmiennym sposobie lokomocji –- wyniki badań

Pomiary Automatyka Robotyka, vol. 17, no. 7–8, pp. 107–115, 2013

[ BIB | abstract | URL ]

@article{rys-badania-13-eng-twiki,
  author = {Seredyński, Dawid and Winiarski, Tomasz},
  journal = {Pomiary Automatyka Robotyka},
  title = {{Robot mobilny o~zmiennym sposobie lokomocji –- wyniki badań}},
  year = {2013},
  note = {Mobile robot with two modes of locomotion -- experimental results (in~Polish)},
  number = {7--8},
  pages = {107--115},
  volume = {17},
  projects = {GrantMeDeRo},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/rys_badania-13.pdf}
}

D. Seredyński, T. Winiarski, K. Banachowicz, M. Walęcki, M. Stefańczyk, and P. Majcher

Robot mobilny o zmiennym sposobie lokomocji – konstrukcja mechaniczna i elektroniczna

Pomiary Automatyka Robotyka, vol. 17, no. 1, pp. 162–167, 2013

[ BIB | abstract | URL ]

@article{rys-mechanika-13-eng-twiki,
  author = {Seredyński, Dawid and Winiarski, Tomasz and Banachowicz, Konrad and Walęcki, Michał and Stefańczyk, Maciej and Majcher, Piotr},
  journal = {Pomiary Automatyka Robotyka},
  title = {{Robot mobilny o~zmiennym sposobie lokomocji – konstrukcja mechaniczna i elektroniczna}},
  year = {2013},
  note = {Mobile robot with two modes of locomotion – mechanical and electronic design (in~Polish)},
  number = {1},
  pages = {162--167},
  volume = {17},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/rys_mechanika-13.pdf}
}

T. Winiarski and D. Seredyński

Robot mobilny o zmiennym sposobie lokomocji – system sterowania

Pomiary Automatyka Robotyka, vol. 17, no. 5, pp. 93–99, 2013

[ BIB | abstract | URL ]

@article{rys-sterowanie-13-eng-twiki,
  author = {Winiarski, Tomasz and Seredyński, Dawid},
  journal = {Pomiary Automatyka Robotyka},
  title = {{Robot mobilny o~zmiennym sposobie lokomocji – system sterowania}},
  year = {2013},
  note = {Mobile robot with two modes of locomotion -- control system (in~Polish)},
  number = {5},
  pages = {93--99},
  volume = {17},
  projects = {GrantMeDeRo},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/rys_sterowanie-13.pdf}
}

D. Seredyński

Młodzi Innowacyjni 2013. Innowacyjne rozwiązania w obszarze automatyki, robotyki i pomiarów

J. Kacprzyk, Ed. Przemysłowy Instytut Automatyki i Pomiarów PIAP, 2013, pp. 157–166

[ BIB | VIDEO ]

@inbook{Seredynski:2013_mi,
  chapter = {Robot mobilny o zmiennym sposobie lokomocji},
  pages = {157--166},
  title = {Młodzi Innowacyjni 2013. Innowacyjne rozwiązania w obszarze automatyki, robotyki i pomiarów},
  publisher = {Przemysłowy Instytut Automatyki i Pomiarów PIAP},
  year = {2013},
  author = {Seredyński, Dawid},
  editor = {Kacprzyk, Janusz},
  owner = {dseredyn},
  timestamp = {2015.04.17},
  twiki = {inbook},
  video = {https://www.youtube.com/watch?v=lnnb9ZKDu4M}
}

M. Stefańczyk, K. Banachowicz, M. Walęcki, and T. Winiarski
3D camera and lidar utilization for mobile robot navigation
Journal of Automation Mobile Robotics and Intelligent Systems, vol. 7, no. 4, pp. 27–33, 2013
[ BIB | DOI | abstract ]
```
@article{stefanczyk20133dcamera-twiki,
  author = {Stefańczyk, Maciej and Banachowicz, Konrad and Walęcki, Michał and Winiarski, Tomasz},
  journal = {Journal of Automation Mobile Robotics and Intelligent Systems},
  title = {{3D camera and lidar utilization for mobile robot navigation}},
  year = {2013},
  number = {4},
  pages = {27--33},
  volume = {7},
  doi = {10.14313/JAMRIS_4-2013/28},
  projects = {GrantRobREx},
  twiki = {journal}
}
```
The article presents a navigation system based on 3D camera and laser scanner capable of detecting a wide range of obstacles in indoor environment. First, existing methods of 3D scene data acquisition are presented. Then the new navigation system gathering data from various sensors (e.g. 3D cameras and laser scanners) is described in a formal way, as well as exemplary applications that verify the approach.
M. Stefańczyk, K. Bojar, and W. Kasprzak
Utilization of Depth and Color Information in Mobile Robotics
in Proceedings of the 8th International Conference on Computer Recognition Systems CORES 2013, 2013, vol. 226, pp. 845–854
[ BIB | DOI | abstract | URL ]
```
@inproceedings{stefanczyk2013utilization-twiki,
  author = {Stefańczyk, Maciej and Bojar, Konrad and Kasprzak, Włodzimierz},
  booktitle = {Proceedings of the 8th International Conference on Computer Recognition Systems CORES 2013},
  title = {Utilization of Depth and Color Information in Mobile Robotics},
  year = {2013},
  volume = {226},
  series = {Advances in Intelligent Systems and Computing},
  pages = {845--854},
  publisher = {Springer},
  projects = {GrantRobREx},
  twiki = {inbook},
  doi = {10.1007/978-3-319-00969-8_83},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/cores13mobile.pdf}
}
```
Computer vision plays an increasing role in robotics, as the computing power of modern computers grows year by year allowing more advanced algorithms to be implemented. Along with visual information, depth is also widely used in navigation of mobile robots, for example for obstacle detection. As cheap depth sensors become popular nowadays, there is a possibility to use data from both sources to further enhance the processes of navigation and object detection. This article presents some possibilities of utilizing in mobile robotics the integrated video and depth images - by performing image segmentation for environment description, optical flow estimation for obstacle avoidance and object detection for semantic map creation. All of the presented examples are based on real, working applications, which additionally proves validity of proposed methods.
P. Trojanek, M. Stefańczyk, and T. Kornuta
Modelling of data flow in component-based robot perception systems
Pomiary Automatyka Robotyka, vol. 17, no. 2, pp. 260–265, 2013
[ BIB | abstract | URL ]
```
@article{Trojanek:2013_modelling,
  author = {Trojanek, Piotr and Stefańczyk, Maciej and Kornuta, Tomasz},
  title = {Modelling of data flow in component-based robot perception systems},
  journal = {Pomiary Automatyka Robotyka},
  year = {2013},
  volume = {17},
  number = {2},
  pages = {260--265},
  projects = {Dziekanski2012Kornuta},
  keywords = {discode},
  owner = {tkornuta},
  timestamp = {2013.05.28},
  twiki = {journal},
  url = {http://www.par.pl/en/Yearbooks/2013/2-2013/Modelling-of-data-flow-in-component-based-robot-perception-systems}
}
```
The paper presents results of research on the development of robot perception systems. On the basis of the selected exemplary system, typical problems occurring during design of such systems were indicated. Those problems motivated the work set out to formalize the data flow by the use of metamodelling - the key technology of model-driven engineering. The obtained metamodel facilitates development of such systems and enables further creation of tools for models’ editing, validation and automatic generation of relevant source code skeletons. Additionally, requirements for a robot perception systems runtime environment were identified and compared with existing component-based robot software frameworks.

P. Trojanek, T. Kornuta, and C. Zieliński

Design of asynchronously stimulated robot behaviours

in Robot Motion and Control (RoMoCo), 9th Workshop on, 2013, pp. 129–134

[ BIB | DOI | URL ]

@inproceedings{Trojanek:2013_RoMoCo-twiki,
  author = {Trojanek, Piotr and Kornuta, Tomasz and Zieliński, Cezary},
  booktitle = {{Robot Motion and Control (RoMoCo), 9th Workshop on}},
  title = {Design of asynchronously stimulated robot behaviours},
  year = {2013},
  editor = {K.~Kozłowski},
  note = {Zielinski},
  pages = {129--134},
  conference = {romoco13},
  doi = {10.1109/RoMoCo.2013.6614597},
  projects = {GrantRobREx},
  lang = {en},
  owner = {tkornuta},
  timestamp = {2013.05.16},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/async-dataflow-romoco-2013a.pdf},
  zadanie = {pw11}
}

M. Walęcki, M. Stefańczyk, and T. Kornuta
Control system of the active head of a service robot exemplified on visual servoing
in Robot Motion and Control (RoMoCo), 9th Workshop on, 2013, pp. 48–53
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Walecki:2013_RoMoCo-twiki,
  author = {Walęcki, Michał and Stefańczyk, Maciej and Kornuta, Tomasz},
  booktitle = {{Robot Motion and Control (RoMoCo), 9th Workshop on}},
  title = {Control system of the active head of a~service robot exemplified on visual servoing},
  year = {2013},
  pages = {48--53},
  conference = {romoco13},
  doi = {10.1109/RoMoCo.2013.6614583},
  projects = {GrantRobREx},
  lang = {en},
  owner = {tkornuta},
  timestamp = {2013.05.16},
  twiki = {article},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/active-head-romoco2013.pdf},
  zadanie = {pw11}
}
```
The article presents approach to active head control system’s development. It describes the system structure including motor drivers with low level position control, as well as high level control mechanisms running on a computer. The formal specification of this system is based on the agent approach. Finally, an exemplary implementation of the active head control system for visual servoing application is presented. Experiments conducted on the system confirm the adequacy of the approach.
T. Winiarski and K. Banachowicz
Opening a door with a redundant impedance controlled robot
Robot Motion & Control (RoMoCo), 9th Workshop on, pp. 221–226, 2013
[ BIB | DOI | abstract | URL ]
```
@article{Winiarski:2013_RoMoCo-twiki,
  author = {Winiarski, Tomasz and Banachowicz, Konrad},
  title = {Opening a~door with a~redundant impedance controlled robot},
  journal = {Robot Motion \& Control (RoMoCo), 9th Workshop on},
  year = {2013},
  pages = {221--226},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/door-romoco-2013.pdf},
  conference = {romoco13},
  doi = {10.1109/RoMoCo.2013.6614612},
  editor = {K.~Kozłowski},
  projects = {GrantMeDeRo},
  twiki = {article}
}
```
Opening a door with a robotic manipulator equipped with a gripper, is a vital problem in service robotics research. This paper presents an approach to opening a cabinet door with an impedance controlled 7-DOF redundant manipulator. A control system is developed that considers redundancy in order to maximise the manipulation capabilities of the manipulator whilst avoiding reaching the joints limits. The control strategy is based on automatically estimating the kinematic parameters of the door. All conducted experiments were based on the assumption that the manipulator pulls a handle and opens a door using a single finger.
T. Winiarski, K. Banachowicz, and M. Stefańczyk
Safe strategy of door opening with impedance controlled manipulator
Journal of Automation Mobile Robotics and Intelligent Systems, vol. 7, no. 4, pp. 21–26, 2013
[ BIB | DOI | abstract | URL ]
```
@article{winiarski-doorstiffjamris13-twiki,
  author = {Winiarski, Tomasz and Banachowicz, Konrad and Stefańczyk, Maciej},
  title = {Safe strategy of door opening with impedance controlled manipulator},
  journal = {Journal of Automation Mobile Robotics and Intelligent Systems},
  year = {2013},
  volume = {7},
  number = {4},
  pages = {21--26},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/kuka-jamris13.pdf},
  doi = {10.14313/JAMRIS_4-2013/21},
  projects = {GrantRobREx},
  twiki = {journal},
  zadanie = {pw11}
}
```
Velma service robot is being developed by Robot Control and Pattern Recognition Group, Warsaw University of Technology. This paper focuses on design, construction and control of its head and torso. The whole process of the head and torso development is described in details, beginning with short survey of existing solutions and requirements. Based on those, mechanical construction is designed and sensory system is selected. The control system of the new components of the robot is formally described. The system was verified during a number of experiments.
T. Winiarski and A. Woźniak
Indirect force control development procedure
Robotica, vol. 31, no. 03, pp. 465–478, Apr. 2013
[ BIB | DOI | abstract | URL ]
```
@article{winiarskirobotica2012-twiki,
  author = {Winiarski, Tomasz and Woźniak, A.},
  journal = {Robotica},
  title = {{Indirect force control development procedure}},
  year = {2013},
  issn = {1469-8668},
  month = apr,
  pages = {465--478},
  volume = {31},
  doi = {10.1017/S0263574712000446},
  projects = {GrantMNiSWN514128733},
  issue = {03},
  numpages = {14},
  twiki = {jcr},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/13indirectwiniarski.pdf}
}
```
Addition of extra sensors, especially video cameras and force sensors, under control of appropriate software makes robotic manipulators working in factories suitable for a range of new applications. This paper presents a method of manipulator indirect force control development, in which the force set values are specified in the operational space and the manipulator is equipped with a force sensor in its wrist. Standard control development methods need the estimation of parameters of the detailed model of a manipulator and position servos, which is a complicated and time-consuming task. Hence, in this work a time-efficient hybrid procedure of controller development is proposed consisting of both analytical and experimental stages: proposal of an approximate continuous model of a manipulator, experimental determination and verification of its parameter values using the resonance phenomenon, continuous regulator development, and digitization of the regulator.
C. Zieliński, W. Kasprzak, T. Kornuta, W. Szynkiewicz, P. Trojanek, M. Walęcki, T. Winiarski, and T. Zielińska
Control and Programming of a Multi-Robot-Based Reconfigurable Fixture
Industrial Robot: An International Journal, vol. 40, no. 4, pp. 329–336, 2013
[ BIB | DOI | abstract | URL ]
```
@article{zielinski12ir-swarm-twiki,
  author = {Zieliński, Cezary and Kasprzak, Włodzimierz and Kornuta, Tomasz and Szynkiewicz, Wojciech and Trojanek, Piotr and Walęcki, Michał and Winiarski, Tomasz and Zielińska, T.},
  title = {Control and Programming of a~Multi-Robot-Based Reconfigurable Fixture},
  journal = {Industrial Robot: An International Journal},
  year = {2013},
  volume = {40},
  number = {4},
  pages = {329--336},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/13-ir-swarm.pdf},
  doi = {10.1108/01439911311320831},
  projects = {fp7swarm},
  twiki = {jcr},
  note = {Zielinski}
}
```
Machining fixtures must fit exactly the work piece to support it appropriately. Even slight change in the design of the work piece renders the costly fixture useless. Substitution of traditional fixtures by a programmable multi-robot system supporting the work pieces requires a specific control system and a specific programming method enabling its quick reconfiguration.
C. Zieliński, P. Trojanek, T. Kornuta, T. Winiarski, M. Walęcki, W. Kasprzak, W. Szynkiewicz, and T. Zielińska
Wielorobotowa rekonfigurowalna forma mocująca obrabiane detale – układ sterowania
Pomiary Automatyka Robotyka, no. 2, pp. 79–85, 2013
[ BIB | abstract | URL ]
```
@article{zielinski-swarm-par-13-p1-eng-twiki,
  author = {Zieliński, Cezary and Trojanek, Piotr and Kornuta, Tomasz and Winiarski, Tomasz and Walęcki, Michał and Kasprzak, Włodzimierz and Szynkiewicz, Wojciech and Zielińska, T.},
  journal = {Pomiary Automatyka Robotyka},
  title = {{Wielorobotowa rekonfigurowalna forma mocująca obrabiane detale – układ sterowania}},
  year = {2013},
  note = {Multi-Robot-Based Reconfigurable Fixture - Control System - Zielinski},
  number = {2},
  pages = {79-85},
  projects = {fp7swarm},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/par-swarm-12-cz1.pdf}
}
```
Formy mocujące muszą być idealnie dopasowane do detali, które maja podpierać. Nawet mała modyfikacja kształtu w projekcie detalu powoduje, że kosztowna forma staje się bezużyteczna. Stąd duże zainteresowanie przemysłu formami rekonfigurowalnymi. Zastąpienie tradycyjnych form przez wiele robotów stanowiących ruchome podpory wymaga zaprojektowania specjalnego układu sterowania oraz dedykowanej metody programowania umożliwiającej szybką rekonfigurację takiego systemu. Układ sterowania systemu wielorobotowego został zaprojektowany na podstawie formalnej specyfikacji definiującej strukturę tego układu za pomocą agentów, których zachowanie określane jest za pomocą funkcji przejścia. W ten sposób stworzono system modularny, umożliwiający parametryzację oprogramowania ułatwiające wprowadzanie zmian przy sprawdzaniu różnych rozwiązań technicznych, co jest nieodzowne przy konstrukcji systemu prototypowego. Eksperymenty przeprowadzone w fabryce wykazały, że zaprojektowany system usztywnia detal na tyle, aby wynik obróbki mechanicznej był zadowalający. Jeżeli liczba różnych detali podlegających obróbce jest znaczna, to zaprojektowany system stanowi względnie tanią alternatywę dla wytworzenia i późniejszego magazynowania wielu form. Ponadto zaprojektowany układ sterowania może sterować zespołami robotów o różnej liczności oraz dopuszcza zmiany konstrukcyjne poszczególnych części robotów. Pierwsza część artykułu przedstawia problemy związane z konstrukcją form podpierających oraz prezentuje strukturę układu sterowania systemu wielorobotowego, natomiast część druga koncentruje się na programie planującym działania robotów.
C. Zieliński, P. Trojanek, T. Kornuta, T. Winiarski, M. Walęcki, W. Kasprzak, W. Szynkiewicz, and T. Zielińska
Wielorobotowa rekonfigurowalna forma mocująca obrabiane detale – program sterujący
Pomiary Automatyka Robotyka, no. 3, pp. 96–102, 2013
[ BIB | abstract | URL ]
```
@article{zielinski-swarm-par-13-p2-eng-twiki,
  author = {Zieliński, Cezary and Trojanek, Piotr and Kornuta, Tomasz and Winiarski, Tomasz and Walęcki, Michał and Kasprzak, Włodzimierz and Szynkiewicz, Wojciech and Zielińska, T.},
  journal = {Pomiary Automatyka Robotyka},
  title = {{Wielorobotowa rekonfigurowalna forma mocująca obrabiane detale – program sterujący}},
  year = {2013},
  note = {Multi-Robot-Based Reconfigurable Fixture - Plan Generation - Zielinski},
  number = {3},
  pages = {96--102},
  projects = {fp7swarm},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/par-swarm-12-cz2.pdf}
}
```
Formy mocujące muszą być idealnie dopasowane do detali, które mają podpierać. Nawet mała modyfikacja kształtu w projekcie detalu powoduje, że kosztowna forma staje się bezużyteczna. Stąd duże zainteresowanie przemysłu formami rekonfigurowalnymi. Zastąpienie tradycyjnych form przez wiele robotów stanowiących ruchome podpory wymaga zaprojektowania specjalnego układu sterowania takim systemem oraz dedykowanej metody programowania umożliwiającej szybką rekonfigurację tego systemu. W pierwszej części artykułu przedstawiono problemy związane z konstrukcją form podpierających oraz zaprezentowano strukturę układu sterowania systemu wielorobotowego, natomiast w części drugiej skoncentrowano się na programie planującym działania poszczególnych robotów. Artykuł przedstawia sposób programowania rekonfigurowalnej formy. Programowanie w tym przypadku polega na zaplanowaniu czynności wykonywanych przez roboty podpierające. Plan układany jest automatycznie z wykorzystaniem sposobu rozwiązywania problemów wymagających spełnienia ograniczeń. Program planujący bierze pod uwagę ograniczenia fizyczne, geometryczne oraz te związane z upływem czasu. Dane wejściowe dla programu planującego są tożsame z rysunkami CAD detali oraz dane CAM sposobu ich obróbki. Na podstawie tych danych powstaje plan rozstawienia głowic, ruchów manipulatorów oraz translokacji baz mobilnych. Układ sterowania na podstawie otrzymanego planu steruje zachowaniem robotów, umożliwiając maszynie CNC wiercenie otworów bądź frezowanie. Eksperymenty przeprowadzone w fabryce wykazały, że zaprojektowany system usztywnia detal na tyle, aby wynik obróbki mechanicznej był zadowalający. Jeżeli liczba różnych detali podlegających obróbce jest znaczna, to zaprojektowany system stanowi względnie tanią alternatywę dla wytworzenia i późniejszego magazynowania wielu form.

2012

M. Boryń and T. Kornuta
Dobór nastaw regulatorów w serwomechanizmach wizyjnych
in XII Krajowa Konferencja Robotyki – Postępy Robotyki, 2012, vol. 182, no. 2, pp. 617–626
[ BIB | abstract ]
```
@inproceedings{Boryn:2012_KKR-eng,
  author = {Boryń, Mateusz and Kornuta, Tomasz},
  booktitle = {XII Krajowa Konferencja Robotyki -- Postępy Robotyki},
  title = {Dobór nastaw regulatorów w~serwomechanizmach wizyjnych},
  year = {2012},
  editor = {Tchoń, K. and Zieliński, Cezary},
  volume = {182},
  number = {2},
  series = {Prace Naukowe -- Elektronika},
  pages = {617-626},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  conference = {kkr12},
  lang = {pl},
  location = {Świeradów Zdrój, 12--16 Września 2012},
  owner = {tkornuta},
  timestamp = {2013.01.06},
  twiki = {inbook}
}
```
The article presents a method for tuning controllers utilized in visual servoing. It is based on the ultimate gain determination and decomposition of the control system followed by decomposition of the high level controller. A process automating the determiniation of the gain is proposed. The method is applied for tuning of P, PI and PID controllers for the PB-EOL-EIH visual servo. Finally a conducted series of experiments on real manipulator verify the correctness of developed controller.
W. Kasprzak and M. Stefańczyk
3D semantic map computation based on depth map and video image
in Proceedings of the International Conference on Computer Vision and Graphics, 2012, vol. 7594, pp. 441–448
[ BIB | DOI | abstract | URL ]
```
@inproceedings{kasprzak2012semantic-twiki,
  author = {Kasprzak, Włodzimierz and Stefańczyk, Maciej},
  booktitle = {Proceedings of the International Conference on Computer Vision and Graphics},
  title = {{3D semantic map computation based on depth map and video image}},
  year = {2012},
  editor = {Bolc, L. and Tadeusiewicz, R. and Chmielewski, L. and Wojciechowski, K.},
  pages = {441--448},
  publisher = {Springer Berlin / Heidelberg},
  series = {Lecture Notes in Computer Science},
  volume = {7594},
  affiliation = {Institute of Control and Computation Engineering, Warsaw University of Technology, Nowowiejska 15/19, 00-665 Warsaw, Poland},
  doi = {10.1007/978-3-642-33564-8_53},
  twiki = {article},
  url = {https://robotyka.ia.pw.edu.pl/rpmpg_pubs/2012/iccvg_12_semantic.pdf}
}
```
A model-based object recognition in video and depth images is proposed for the purpose of semantic map creation in mobile robotics. Three types of objects are modeled: a human silhouette, a chair/table and corridor walls. A bi-driven hypothesis generation and verification strategy is outlined. The object model includes a hierarchic semantic nets, combined with a graph of constraints and a Bayesian network for hypothesis generation and evaluation. For the purpose of model-to-image matching we define an incomplete constraint satisfaction problem and solve it. Our CSP-search allows partial assignment solutions and uses a stochastic inference to provide judgments of such solutions. The verification of hypotheses is due to a top-down occlusion propagation process, that explains why some object parts are hidden or occluded.
T. Kornuta and C. Zieliński
Projektowanie układów sterowania robotów. Część I: metodyka
in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2012, vol. 2, no. 182, pp. 599–606
[ BIB | abstract ]
```
@inproceedings{Kornuta:2012_KKR_metodyka-en,
  author = {Kornuta, Tomasz and Zieliński, Cezary},
  booktitle = {XIII Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Projektowanie układów sterowania robotów. Część I: metodyka}},
  year = {2012},
  note = {Design of Robot Control Systems. Part I: Methodology - Zielinski},
  number = {182},
  pages = {599-606},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  series = {Prace Naukowe – Elektronika},
  volume = {2},
  conference = {kkr12},
  projects = {NCN2012Kornuta},
  lang = {en},
  location = {Świeradów Zdrój, 12--16 Września 2012},
  owner = {tkornuta},
  timestamp = {2013.01.06},
  twiki = {inbook}
}
```
The two part article presents a methodology of designing multi-robot control systems. This part presents a brief overview of control architectures and describes the design methodology based on the concept of an embodied agent. An agent is decomposed into control subsystem, virtual effectors and receptors. The each of those components contains internal memory and communication buffers. Those form the arguments of transition functions which compute values for output buffers of those components. Those functions specify the evolution of component state, which in turn define their behaviours. Those functions are expressed mathematically and graphically by data flow diagrams. The second part applies the presented methodology to the specification of a control system of a robot utilizing the idea of active vision.
T. Kornuta
Design of Structures and Behaviours of Robot Control Systems Using Active Vision
PhD thesis, Warsaw University of Technology, 2012
[ BIB | abstract | URL ]
```
@phdthesis{Kornuta:2012_phd-twiki,
  author = {Kornuta, Tomasz},
  title = {Design of Structures and Behaviours of Robot Control Systems Using Active Vision},
  school = {Warsaw University of Technology},
  year = {2012},
  projects = {NCN2012Kornuta},
  lang = {en},
  owner = {tkornuta},
  timestamp = {2013.05.15},
  twiki = {phd},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2012/2012_tkornuta_phd.pdf}
}
```
This monograph concerns the design of robotic systems utilizing active vision, especially focusing on two aspects: the structure of the control system and the behaviours of the robot enabling effective control of its visual perception. It presents the decomposition of the system structure into several types of subsystems and the definition of their actions in terms of transition functions. A unified method of description of both the structures and the behaviours is proposed. The developed supplementing each other mathematical and graphical notations lead to the specification detailed enough for the deep understanding and implementation of a given system. Utility of the tool has been validated on three robotic systems emphasizing various aspects of active vision, including switching of different behaviours depending on the task and the state of the environment, changing the way the system processes the visual information and the simultaneous utilization of a pair of cameras.
T. Kornuta, M. Stefańczyk, and C. Zieliński
Projektowanie układów sterowania robotów. Część II: Aktywna wizja
in Proceedings of the 12th National Conference on Robotics – Advances in Robotics, 2012, vol. 2, no. 182, pp. 607–616
[ BIB | abstract | URL ]
```
@inproceedings{kornuta12projektowanie-eng-twiki,
  author = {Kornuta, Tomasz and Stefańczyk, Maciej and Zieliński, Cezary},
  booktitle = {Proceedings of the 12th National Conference on Robotics -- Advances in Robotics},
  title = {{Projektowanie układów sterowania robotów. Część II: Aktywna wizja}},
  year = {2012},
  editor = {Tchoń, K. and Zieliński, Cezary},
  note = {Design of Robot Control Systems. Part II: Active Vision - Zielinski},
  number = {182},
  pages = {607--616},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  series = {Prace Naukowe – Elektronika},
  volume = {2},
  conference = {kkr12},
  projects = {NCN2012Kornuta},
  lang = {en},
  location = {Świeradów Zdrój, 12--16 Września 2012},
  twiki = {inbook},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2012/kornuta12kkr2}
}
```
Dwuczęściowy artykuł poświęcono metodyce projektowania układów sterowania robotów. W pierwszej części przedstawiono krótki przegląd architektur systemów robotycznych oraz przedstawiono metodykę projektowania systemów wielorobotowych wykorzystującą pojęcia: agenta upostaciowionego oraz funkcji przejścia. W poniższej drugiej części metodyka ta została wykorzystana do specyfikacji systemu robotycznego potrafiącego rozróżnić obiekty płaskie od przestrzennych. Wyniki przeprowadzonych eksperymentów potwierdzają poprawność specyfikacji, jak i stworzonej na jej bazie implementacji.

B. Siemiątkowska, R. Chojecki, M. Wiśniowski, M. Walęcki, and J. M. M. Wielgat

Mobile System for Non Destructive Testing of Weld Joints via Time of Flight Diffraction (TOFD) Technique

Robot motion & control 2011 (Lecture Notes in Control & Information Sciences), vol. 422, pp. 65–74, 2012

[ BIB ]

@article{Sie:11RoMoCo-twiki,
  author = {Siemiątkowska, B. and Chojecki, R. and Wiśniowski, M. and Walęcki, M. and M. Wielgat, J. Michalski},
  title = {Mobile System for Non Destructive Testing of Weld Joints via Time of Flight Diffraction (TOFD) Technique},
  journal = {Robot motion \& control 2011 (Lecture Notes in Control \& Information Sciences)},
  year = {2012},
  volume = {422},
  pages = {65--74},
  conference = {romoco11},
  editor = {K.~Kozłowski},
  lang = {en},
  location = {Bukowy Dworek, Poland},
  owner = {mw},
  publisher = {Springer},
  timestamp = {2011.07.11},
  twiki = {article}
}

M. Stefańczyk and W. Kasprzak

Multimodal segmentation of dense depth maps and associated color information

in Proceedings of the International Conference on Computer Vision and Graphics, 2012, vol. 7594, pp. 626–632

[ BIB | DOI | abstract | URL ]

@inproceedings{stefanczyk2012multimodal-twiki,
  author = {Stefańczyk, Maciej and Kasprzak, Włodzimierz},
  booktitle = {Proceedings of the International Conference on Computer Vision and Graphics},
  title = {Multimodal segmentation of dense depth maps and associated color information},
  year = {2012},
  volume = {7594},
  series = {Lecture Notes in Computer Science},
  pages = {626--632},
  publisher = {Springer Berlin / Heidelberg},
  doi = {10.1007/978-3-642-33564-8_75},
  url = {https://robotyka.ia.pw.edu.pl/rpmpg_pubs/2012/iccvg_12_multimodal.pdf},
  affiliation = {Institute of Control and Computation Engineering, Warsaw University of Technology, Nowowiejska 15/19, 00-665 Warsaw, Poland},
  twiki = {article}
}

M. Stefańczyk, K. Banachowicz, M. Walęcki, and T. Winiarski
Nawigacja robotem Elektron z wykorzystaniem kamery 3D i lidaru
in XII Krajowa Konferencja Robotyki – Postępy Robotyki, 2012, vol. 1, pp. 265–274
[ BIB | abstract | URL ]
```
@inproceedings{stefanczyk2012nawigacja-eng-twiki,
  author = {Stefańczyk, Maciej and Banachowicz, Konrad and Walęcki, Michał and Winiarski, Tomasz},
  booktitle = {XII Krajowa Konferencja Robotyki -- Postępy Robotyki},
  title = {{Nawigacja robotem Elektron z~wykorzystaniem kamery 3D i~lidaru}},
  year = {2012},
  note = {(3D camera and lidar utilization for mobile robot navigation (In~Polish))},
  pages = {265--274},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  volume = {1},
  conference = {kkr12},
  location = {Świeradów Zdrój, 12--16 Września 2012},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2012/stefanczyk2012nawigacja.pdf}
}
```
Article consists of two parts. The first part considers research oriented mobile base hardware. The following, second part presents navigation system basing on 3D camera and laser scanner capable of detecting a wide range of obstacles in indoor environment. In the beginning existing methods of 3D scene acquisition are presented. Then the new navigation system gathering data from various sensors (e.g. 3D cameras and laser scanners) is described as well as exemplary applications that verify the approach.

W. Szynkiewicz

Skill-Based Bimanual Manipulation Planning

Journal of Telecommunications and Information Technology, no. 4, pp. 54–62, 2012

[ BIB | URL ]

@article{Szynkiewicz:2012_bimanual_manipulation-twiki,
  author = {Szynkiewicz, Wojciech},
  title = {Skill-Based Bimanual Manipulation Planning},
  journal = {Journal of Telecommunications and Information Technology},
  year = {2012},
  number = {4},
  pages = {54--62},
  url = {http://yadda.icm.edu.pl/baztech/element/bwmeta1.element.baztech-article-BATA-0018-0007/c/httpwww_itl_waw_plczasopismajtit2012454.pdf},
  projects = {GrantRobREx},
  owner = {wszynkiewicz},
  timestamp = {2014.02.11},
  twiki = {journal},
  zadanie = {pw11}
}

T. Kornuta and C. Zieliński

Specyfikacja struktur serwomechanizmów wizyjnych

Pomiary Automatyka Robotyka, vol. 16, no. 2, pp. 370–376, 2012

[ BIB ]

@article{tkornuta:2012_automation-eng,
  author = {Kornuta, Tomasz and Zieliński, Cezary},
  title = {Specyfikacja struktur serwomechanizmów wizyjnych},
  journal = {Pomiary Automatyka Robotyka},
  year = {2012},
  volume = {16},
  number = {2},
  pages = {370-376},
  owner = {tkornuta},
  timestamp = {2012.02.22},
  twiki = {journal},
  note = {Specification of visual servo structures - Zielinski}
}

T. Kornuta and M. Stefańczyk
DisCODe: komponentowa struktura ramowa do przetwarzania danychsensorycznych
Pomiary Automatyka Robotyka, vol. 16, no. 7–8, pp. 76–85, 2012
[ BIB | abstract | URL ]
```
@article{tkornuta:2012_discode-twiki,
  author = {Kornuta, Tomasz and Stefańczyk, Maciej},
  journal = {Pomiary Automatyka Robotyka},
  title = {{DisCODe}: komponentowa struktura ramowa do przetwarzania danychsensorycznych},
  year = {2012},
  note = {(DisCODe: a~component oriented framework for procesing of sensory data (in Polish))},
  number = {7-8},
  pages = {76-85},
  volume = {16},
  keywords = {discode},
  owner = {tkornuta},
  timestamp = {2012.03.26},
  twiki = {journal},
  url = {http://www.par.pl/Archiwum/2012/7-8-2012/DisCODe-komponentowa-struktura-ramowa-do-przetwarzania-danych-sensorycznych}
}
```
Aby działać w nieuporządkowanym i dynamicznie zmieniającym się środowisku, roboty muszą być wyposażone w rozmaite sensory, a ich systemy sterowania muszą być w stanie przetworzyć odbierane dane sensoryczne możliwie najszybciej w celu odpowiedniego zareagowania na zachodzące wydarzenia. Celem pracy było opracowanie oprogramowania umożliwiającego tworzenie podsystemów sensorycznych, mogących stanowić ekwiwalent dowolnych zmysłów zwierząt. Przeprowadzone testy wykazały, ze wprowadzane narzuty komunikacyjne są minimalne, a rozwiązanie nadaje się do implementacji podsystemów sensorycznych działających w czasie rzeczywistym.

P. Trojanek

Design and implementation of robot control systems reacting to asynchronous events

PhD thesis, WUT, 2012

[ BIB | URL ]

@phdthesis{Trojanek:phd2012-twiki,
  author = {Trojanek, Piotr},
  title = {Design and implementation of robot control systems reacting to asynchronous events},
  school = {WUT},
  year = {2012},
  twiki = {thesis},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/ptrojanek_phd.pdf}
}

M. Walęcki, K. Banachowicz, and T. Winiarski
Research oriented motor controllers for robotic applications
in Robot Motion and Control 2011 (LNCiS) Lecture Notes in Control & Information Sciences, 2012, vol. 422, pp. 193–203
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Wal:11RoMoCo-twiki,
  author = {Walęcki, Michał and Banachowicz, Konrad and Winiarski, Tomasz},
  booktitle = {Robot Motion and Control 2011 (LNCiS) Lecture Notes in Control \& Information Sciences},
  title = {{Research oriented motor controllers for robotic applications}},
  year = {2012},
  editor = {K.~Kozłowski},
  pages = {193--203},
  publisher = {Springer Verlag London Limited},
  volume = {422},
  conference = {romoco11},
  doi = {10.1007/978-1-4471-2343-9_16},
  projects = {GrantMNiSWN514237137},
  lang = {en},
  location = {Bukowy Dworek, Poland},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2012/11-controllers-romoco.pdf}
}
```
Motor controllers are vital parts of robotic manipulators as well as their grippers. Typical, commercial motor controllers available on the market are developed to work with high level robot industrial controllers, hence their adaptation to work as a part of a scientific, experimental robotic system is problematic. The general concept of research oriented motor controllers for robotic systems is presented in this article as well as an exemplary gripper and manipulator application based on this concept.

R. Chojecki, J. Michalski, M. Walęcki, and M. Wiśniowski

Terenowa platforma mobilna RoMegAT

Pomiary Automatyka Robotyka, vol. 2, pp. 289–292, 2012

[ BIB ]

@article{Wal:12PAR1-eng-twiki,
  author = {Chojecki, R. and Michalski, J. and Walęcki, Michał and Wiśniowski, M.},
  title = {Terenowa platforma mobilna {RoMegAT}},
  journal = {Pomiary Automatyka Robotyka},
  year = {2012},
  volume = {2},
  pages = {289--292},
  note = {All-Terrain Mobile Platform {RoMegAT (In~Polish)}}
}

R. Chojecki, B. Siemiątkowska, J. Michalski, M. Walęcki, and M. Wiśniowski

Non-Destructive Robotized Inspection of Weld Joints via TOFD Technique

Pomiary Automatyka Robotyka, vol. 2, pp. 228–233, 2012

[ BIB ]

@article{Wal:12PAR2-eng,
  author = {Chojecki, R. and Siemiątkowska, B. and Michalski, J. and Walęcki, Michał and Wiśniowski, M.},
  title = {Non-Destructive Robotized Inspection of Weld Joints via {TOFD} Technique},
  journal = {Pomiary Automatyka Robotyka},
  year = {2012},
  volume = {2},
  pages = {228--233},
  note = {Nieniszczące zrobotyzowane badanie spawów metodą {TOFD}}
}

M. Walęcki, K. Banachowicz, M. Stefańczyk, R. Chojecki, M. Wiśniowski, and T. Winiarski
Uniwersalna struktura sprzętu badawczo–dydaktycznej platformy mobilnej
XII Krajowa Konferencja Robotyki – Postępy Robotyki, vol. 1, pp. 305–314, 2012
[ BIB | abstract | URL ]
```
@article{walecki2012elektron-sprzet-eng-twiki,
  author = {Walęcki, Michał and Banachowicz, Konrad and Stefańczyk, Maciej and Chojecki, R. and Wiśniowski, M. and Winiarski, Tomasz},
  title = {{Uniwersalna struktura sprzętu badawczo--dydaktycznej platformy mobilnej}},
  year = {2012},
  note = {(Universal hardware structure for mobile platform (In~Polish))},
  pages = {305--314},
  volume = {1},
  booktitle = {XII Krajowa Konferencja Robotyki -- Postępy Robotyki},
  conference = {kkr12},
  location = {Świeradów Zdrój, 12--16 Września 2012},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2012/walecki-elektron-sprzet-kkr12.pdf}
}
```
Two-part article describes an universal hardware structure of a mobile robot for research and teaching purposes and its application – navigation using 3D camera and laser scanner in Electron robot. The first part presents the overall approach to the development of a modular mobile robot control system. It discusses the requirements for the hardware driver, the method of analysis of these requirements, the structure of the controller, the construction of its modules and the method of communication between them. It also presents the implementation of the developed control system in existing mobile platforms.
T. Winiarski, K. Banachowicz, and M. Stefańczyk
Bezpieczna strategia otwierania drzwi robotem manipulacyjnym KUKA-LWR
in XII Krajowa Konferencja Robotyki – Postępy Robotyki, 2012, vol. 2, pp. 395–404
[ BIB | abstract | URL ]
```
@inproceedings{Winiarski:kukakkr12-eng-twiki,
  author = {Winiarski, Tomasz and Banachowicz, Konrad and Stefańczyk, Maciej},
  booktitle = {XII Krajowa Konferencja Robotyki -- Postępy Robotyki},
  title = {{Bezpieczna strategia otwierania drzwi robotem manipulacyjnym KUKA-LWR}},
  year = {2012},
  note = {(Safe door opening strategy of KUKA-LWR robotic manipulator (In~Polish))},
  pages = {395--404},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  volume = {2},
  conference = {kkr12},
  location = {Świeradów Zdrój, 12--16 Września 2012},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2012/kukakkr12.pdf}
}
```
Service robots need to open doors and drawers to autonomously operate in human environment. Modern robotics systems are able to localize the doors and its handles or knobs, grasp the handles and open the doors. The mechanical properties of doors lead to incorporation of force and velocity constraints into the control law, to avoid the environment damage. In the article the impedance control law was extended by the previously mentioned factors to achieve safe behavior of direct (explicit) position-force controller of KUKA-LWR robot opening the door.

C. Zieliński, T. Kornuta, P. Trojanek, T. Winiarski, and M. Walęcki

Specification of a Multi-agent Robot-Based Reconfigurable Fixture Control System

Robot Motion & Control 2011 (Lecture Notes in Control & Information Sciences), vol. 422, pp. 171–182, 2012

[ BIB | DOI | abstract | URL ]

@article{Zie:11RoMoCo-twiki,
  author = {Zieliński, Cezary and Kornuta, Tomasz and Trojanek, Piotr and Winiarski, Tomasz and Walęcki, Michał},
  journal = {Robot Motion \& Control 2011 (Lecture Notes in Control \& Information Sciences)},
  title = {{Specification of a~Multi-agent Robot-Based Reconfigurable Fixture Control System}},
  year = {2012},
  note = {Zielinski},
  pages = {171--182},
  volume = {422},
  conference = {romoco11},
  doi = {10.1007/978-1-4471-2343-9_14},
  editor = {K.~Kozłowski},
  projects = {fp7swarm},
  lang = {en},
  location = {Bukowy Dworek, Poland},
  owner = {yoyek},
  publisher = {Springer},
  timestamp = {2012.04.12},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2012/11-swarm-romoco.pdf}
}

C. Zieliński, T. Kornuta, and M. Boryń

Specification of Robotic Systems on an Example of Visual Servoing

in 10th International IFAC Symposium on Robot Control (SYROCO 2012), 2012, vol. 10, no. 1, pp. 45–50

[ BIB ]

@inproceedings{zielinski:2012_syroco,
  author = {Zieliński, Cezary and Kornuta, Tomasz and Boryń, Mateusz},
  booktitle = {10th International IFAC Symposium on Robot Control (SYROCO 2012)},
  title = {Specification of Robotic Systems on an Example of Visual Servoing},
  year = {2012},
  volume = {10},
  number = {1},
  pages = {45--50},
  owner = {tkornuta},
  timestamp = {2012.04.24},
  twiki = {article},
  note = {Zielinski}
}

C. Zieliński, T. Kornuta, M. Stefańczyk, W. Szynkiewicz, P. Trojanek, and M. Walęcki
Języki programowania robotów przemysłowych
Pomiary Automatyka Robotyka, vol. 16, no. 11, pp. 10–19, 2012
[ BIB | abstract ]
```
@article{zielinski2012jezyki-twiki-en,
  author = {Zieliński, Cezary and Kornuta, Tomasz and Stefańczyk, Maciej and Szynkiewicz, Wojciech and Trojanek, Piotr and Walęcki, Michał},
  title = {Języki programowania robotów przemysłowych},
  journal = {Pomiary Automatyka Robotyka},
  year = {2012},
  volume = {16},
  number = {11},
  pages = {10--19},
  lang = {en},
  twiki = {journal},
  note = {Programming languages of industrial robots - Zielinski}
}
```
Pierwsze roboty przemysłowe zaczęto wykorzystywać w fabrykach pięćdziesiąt lat temu. Naturalnym jest, że w tak długim okresie rozwój technologii elektronicznych i informatycznych musiał mieć duży wpływ na sposób sterowania tymi urządzeniami. Aktualny stan techniki w tej dziedzinie najlepiej zobrazować, analizując języki programowania robotów przemysłowych różnych producentów. Artykuł ten nie tylko prezentuje w skrócie języki obecnie stosowane przez dziesięciu producentów robotów, ale również pokazuje kontekst, w jakim były one tworzone.

P. Trojanek and C. Zieliński

Metodyka projektowania i narzędzia wspomagające implementację układów sterowania robotów

in Systemy Czasu Rzeczywistego (SCR’2012), 2012

[ BIB ]

@inproceedings{TrojanekSCR:2012,
  author = {Trojanek, Piotr and Zieliński, Cezary},
  title = {Metodyka projektowania i~narzędzia wspomagające implementację układów sterowania robotów},
  booktitle = {Systemy Czasu Rzeczywistego (SCR'2012)},
  year = {2012},
  note = {Zielinski}
}

2011

C. Zieliński and T. Kornuta

Generation of Linear Cartesian Trajectories for Robots Using Industrial Motion-Controllers

in 16th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2011, 2011, pp. 62–67

[ BIB ]

@inproceedings{czielinski:2011mmar,
  author = {Zieliński, Cezary and Kornuta, Tomasz},
  booktitle = {16th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2011},
  title = {Generation of Linear {C}artesian Trajectories for Robots Using Industrial Motion-Controllers},
  year = {2011},
  pages = {62--67},
  month = aug,
  lang = {en},
  location = {Miedzyzdroje, Poland},
  owner = {tkornuta},
  timestamp = {2011.10.22},
  twiki = {article},
  note = {Zielinski}
}

M. Boryń, T. Kornuta, and C. Zieliński

Struktura ramowa do implementacji i testowania serwomechanizmów wizyjnych

Pomiary Automatyka Robotyka, no. 2, pp. 677–686, 2011

[ BIB ]

@article{mboryn:2011automation-eng,
  author = {Boryń, M. and Kornuta, Tomasz and Zieliński, Cezary},
  title = {Struktura ramowa do implementacji i~testowania serwomechanizmów wizyjnych},
  journal = {Pomiary Automatyka Robotyka},
  year = {2011},
  number = {2},
  pages = {677--686},
  owner = {CZ},
  timestamp = {2013.10.09},
  twiki = {journal},
  note = {A framework for implementation and testing of diverse visual servo algorithms - Zielinski}
}

T. Kornuta, T. Bem, and T. Winiarski
Utilization of the FraDIA for development of robotic vision subsystems on the example of checkers’ playing robot
Machine GRAPHICS & VISION, vol. 4, pp. 495–520, 2011
[ BIB | abstract | URL ]
```
@article{mgv12-ttt-twiki,
  author = {Kornuta, Tomasz and Bem, T. and Winiarski, Tomasz},
  title = {Utilization of the FraDIA for development of robotic vision subsystems on the example of checkers' playing robot},
  journal = {Machine {GRAPHICS \& VISION}},
  year = {2011},
  volume = {4},
  pages = {495--520},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2011/tkornuta_fradia_checkers-12.pdf},
  owner = {yoyek},
  timestamp = {2012.09.26},
  twiki = {journal}
}
```
The paper presents FraDIA, a framework facilitating the creation of vision systems, that can work as a stand–alone application as well as play a role of a vision subsystem for robotic controllers. Article describes motivations leading to the tool creation, its structure and a method of integration with a MRROC++ system, enabling the development of a robot controllers with visual feedback. The utility of the framework is demonstrated on an example of a robot playing checkers. In the application FraDIA was used to implement two different vision subsystems and the control system exhibited two behaviors utilizing visual information in two totally different ways: passive, responsible for monitoring the game state and active, in which vision was utilized during the manipulator motion for localization of a pawn to be grasped. Regarding the complexity of the system a specification method based on agents and transition function was used. The method, consisting of mathematical formulas supplemented by data flow diagrams, enables the reader to understand both system structure as well as its behavior.

K. Mianowski, K. Banachowicz, T. Winiarski, C. Zieliński, W. Szynkiewicz, and K. Czajkowski

Chwytak wielopalczasty dla robota usługowego – konstrukcja

Pomiary Automatyka Robotyka, no. 5, pp. 46–52, 2011

[ BIB | abstract | URL ]

@article{PAR2011_ChwytakWielopalczasty_Konstrukcja-eng-twiki,
  author = {Mianowski, K. and Banachowicz, Konrad and Winiarski, Tomasz and Zieliński, Cezary and Szynkiewicz, Wojciech and Czajkowski, K.},
  title = {Chwytak wielopalczasty dla robota usługowego -- konstrukcja},
  journal = {Pomiary Automatyka Robotyka},
  year = {2011},
  number = {5},
  pages = {46--52},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2011/11-chwytak-wielopaczalsty-konstrukcja.pdf},
  projects = {GrantMNiSWN514128733},
  owner = {cz},
  twiki = {journal},
  note = {Multi-fingered gripper for a~service robot: hardware design - Zielinski}
}

W. Szynkiewicz, K. Czajkowski, C. Zieliński, T. Winiarski, K. Mianowski, and K. Banachowicz

Chwytak wielopalczasty dla robota usługowego – planowanie chwytów

Pomiary Automatyka Robotyka, no. 7–8, pp. 75–81, 2011

[ BIB | abstract | URL ]

@article{PAR2011_ChwytakWielopalczasty_Planowanie-eng-twiki,
  author = {Szynkiewicz, Wojciech and Czajkowski, K. and Zieliński, Cezary and Winiarski, Tomasz and Mianowski, K. and Banachowicz, Konrad},
  title = {Chwytak wielopalczasty dla robota usługowego -- planowanie chwytów},
  journal = {Pomiary Automatyka Robotyka},
  year = {2011},
  number = {7--8},
  pages = {75--81},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2011/11-chwytak-wielopaczalsty-planowanie-chwytow.pdf},
  projects = {GrantMNiSWN514128733},
  owner = {cz},
  timestamp = {2012.04.12},
  twiki = {journal},
  note = {Multi-fingered gripper for a~service robot - grasp planning - Zielinski}
}

T. Winiarski, K. Banachowicz, C. Zieliński, W. Szynkiewicz, K. Mianowski, and K. Czajkowski

Chwytak wielopalczasty dla robota usługowego – sterowanie

Pomiary Automatyka Robotyka, no. 6, pp. 52–57, 2011

[ BIB | abstract | URL ]

@article{PAR2011_ChwytakWielopalczasty_Sterowanie-eng-twiki,
  author = {Winiarski, Tomasz and Banachowicz, Konrad and Zieliński, Cezary and Szynkiewicz, Wojciech and Mianowski, K. and Czajkowski, K.},
  title = {Chwytak wielopalczasty dla robota usługowego -- sterowanie},
  journal = {Pomiary Automatyka Robotyka},
  year = {2011},
  number = {6},
  pages = {52--57},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2011/11-chwytak-wielopaczalsty-sterowanie.pdf},
  projects = {GrantMNiSWN514128733},
  owner = {cz},
  timestamp = {2012.04.12},
  twiki = {journal},
  note = {Multi-fingered gripper for a~service robot: control - Zielinski}
}

C. Zieliński, T. Kornuta, P. Trojanek, and T. Winiarski
Metoda projektowania układów sterowania autonomicznych robotów mobilnych. Część 1. Wprowadzenie teoretyczne
Pomiary Automatyka Robotyka, no. 9, pp. 84–87, 2011
[ BIB | abstract | URL ]
```
@article{PAR2011_Scout1-eng-twiki,
  author = {Zieliński, Cezary and Kornuta, Tomasz and Trojanek, Piotr and Winiarski, Tomasz},
  journal = {Pomiary Automatyka Robotyka},
  title = {{Metoda projektowania układów sterowania autonomicznych robotów mobilnych. Część~1. Wprowadzenie teoretyczne}},
  year = {2011},
  note = {Method of Designing Autonomous Mobile Robot Control Systems. Part 1: Theoretical Introduction - Zielinski},
  number = {9},
  pages = {84--87},
  projects = {piap2009},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2011/11-par-scout1.pdf}
}
```
Ten dwuczęściowy artykuł przedstawia metodę projektową umożliwiającą określenie zarówno struktury, jak i sposobu działania układów sterowania autonomicznych robotów. Cześć pierwsza koncentruje się na aparacie formalnym i ogólnych przesłankach metody projektowej, natomiast cześć druga przedstawia przykład obrazujący sposób stosowania metody opisanej w części pierwszej artykułu.
C. Zieliński, T. Kornuta, P. Trojanek, and T. Winiarski
Metoda projektowania układów sterowania autonomicznych robotów mobilnych. Część 2. Przykład zastosowania
Pomiary Automatyka Robotyka, no. 10, pp. 84–91, 2011
[ BIB | abstract | URL ]
```
@article{PAR2011_Scout2-eng-twiki,
  author = {Zieliński, Cezary and Kornuta, Tomasz and Trojanek, Piotr and Winiarski, Tomasz},
  journal = {Pomiary Automatyka Robotyka},
  title = {{Metoda projektowania układów sterowania autonomicznych robotów mobilnych. Część~2. Przykład zastosowania}},
  year = {2011},
  note = {Method of Designing Autonomous Mobile Robot Control Systems. Part 2: An~Example - Zielinski},
  number = {10},
  pages = {84--91},
  projects = {piap2009},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2011/11-par-scout2.pdf}
}
```
Ten dwuczęściowy artykuł przedstawia metodę projektową umożliwiającą określenie zarówno struktury, jak i sposobu działania układów sterowania autonomicznych robotów. Cześć pierwsza koncentruje się na aparacie formalnym i ogólnych przesłankach metody projektowej, natomiast cześć druga przedstawia przykład obrazujący sposób stosowania metody opisanej w części pierwszej artykułu.

T. Kornuta and C. Zieliński

Dekompozycja systemu sterowania robota-kasjera

Pomiary Automatyka Robotyka, no. 2, pp. 41–48, 2011

[ BIB ]

@article{tkornuta:2011_kasjer-eng-twiki,
  author = {Kornuta, Tomasz and Zieliński, Cezary},
  title = {Dekompozycja systemu sterowania robota-kasjera},
  journal = {Pomiary Automatyka Robotyka},
  year = {2011},
  number = {2},
  pages = {41--48},
  owner = {tkornuta},
  timestamp = {2011.03.09},
  twiki = {journal},
  note = {Decomposition of the robot-cashier control system - Zielinski}
}

T. Kornuta and C. Zieliński

Behavior-based control system of a robot actively recognizing hand postures

in 15th IEEE International Conference on Advanced Robotics, ICAR 2011, 2011, pp. 265–270

[ BIB ]

@inproceedings{tkornuta:2011icar-twiki,
  author = {Kornuta, Tomasz and Zieliński, Cezary},
  booktitle = {15th IEEE International Conference on Advanced Robotics, ICAR 2011},
  title = {Behavior-based control system of a~robot actively recognizing hand postures},
  year = {2011},
  pages = {265-270},
  month = jun,
  lang = {en},
  location = {Tallinn, Estonia},
  owner = {tkornuta},
  timestamp = {2011.10.22},
  twiki = {article},
  note = {Zielinski}
}

T. Winiarski

Elementary behaviours implementation in postion–force control tasks for robot manipulators

in Innowacyjne rozwiązania w obszarze automatyki, robotyki i pomiarów,

J. Kacprzyk, Ed. PIAP, 2011, pp. 39–56

[ BIB | abstract | URL ]

@inbook{Winiarski:piap2011-mi-twiki,
  title = {Elementary behaviours implementation in postion--force control tasks for robot manipulators},
  pages = {39--56},
  booktitle = {Innowacyjne rozwiązania w~obszarze automatyki, robotyki i~pomiarów},
  publisher = {PIAP},
  year = {2011},
  author = {Winiarski, Tomasz},
  editor = {Kacprzyk, J.},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2011/11-winiarski-piap-mi.pdf},
  owner = {yoyek},
  timestamp = {2012.01.05},
  twiki = {inbook}
}

C. Zieliński, T. Winiarski, W. Szynkiewicz, K. Mianowski, K. Banachowicz, and K. Czajkowski

Sterownik manipulatora z chwytakiem wielopalczastym

in Materiały XVII Krajowej Konferencji Automatyki, 2011, vol. 1, pp. 1102–1115

[ BIB ]

@inproceedings{Mianowski:kka-preprint-zielinski-2011-twiki,
  author = {Zieliński, Cezary and Winiarski, Tomasz and Szynkiewicz, Wojciech and Mianowski, Krzysztof and Banachowicz, Konrad and Czajkowski, Krzysztof},
  booktitle = {Materiały XVII Krajowej Konferencji Automatyki},
  title = {{Sterownik manipulatora z chwytakiem wielopalczastym}},
  year = {2011},
  note = {Zielinski},
  pages = {1102--1115},
  volume = {1},
  twiki = {article}
}

C. Zieliński, T. Winiarski, W. Szynkiewicz, K. Mianowski, K. Banachowicz, and K. Czajkowski

Sterownik manipulatora z chwytakiem wielopalczastym

KAiR – Postępy Automatyki i Robotyki, vol. 16, no. 2, pp. 577–592, 2011

[ BIB | abstract | URL ]

@article{Zie:kka11-eng-twiki,
  author = {Zieliński, Cezary and Winiarski, Tomasz and Szynkiewicz, Wojciech and Mianowski, Krzysztof and Banachowicz, Konrad and Czajkowski, Krzysztof},
  journal = {KAiR -- Postępy Automatyki i~Robotyki},
  title = {{Sterownik manipulatora z~chwytakiem wielopalczastym}},
  year = {2011},
  month = {Czerwiec},
  note = {Controller of manipulator with multi-fingered gripper - Zielinski},
  number = {2},
  pages = {577--592},
  volume = {16},
  editors = {Krzysztof Malinowski and Ryszard Dindorf},
  projects = {GrantMNiSWN514128733},
  lang = {pl},
  place = {Kielce},
  publisher = {{Kielce University of Technology}},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2011/chwytak-wielopaczalsty-kka.pdf}
}

P. Trojanek and C. Zieliński

Decomposition and specification of robot control systems (in Polish)

in Design, analysis and implementation of real-time systems, 2011, pp. 53–64

[ BIB ]

@inproceedings{TrojanekSCR:2011:en,
  author = {Trojanek, Piotr and Zieliński, Cezary},
  title = {Decomposition and specification of robot control systems (in~{P}olish)},
  booktitle = {Design, analysis and implementation of real-time systems},
  year = {2011},
  editor = {Trybus, L. and Samolej, S.},
  pages = {53--64},
  publisher = {Transport and Communication Publishers},
  note = {Zielinski}
}

P. Trojanek and C. Zieliński

Specification of complex robot control systems (in Polish)

Measurements–Automatics–Robotics (PAR), no. 2, pp. 266–274, 2011

[ BIB ]

@article{Trojanek2011automation:en,
  author = {Trojanek, Piotr and Zieliński, Cezary},
  title = {Specification of complex robot control systems (in~{P}olish)},
  journal = {Measurements--Automatics--Robotics (PAR)},
  year = {2011},
  pages = {266--274},
  number = {2},
  owner = {CZ},
  note = {Zielinski}
}

2010

M. Staniak and C. Zieliński

Structures of visual servos

Robotics and Autonomous Systems, vol. 58, no. 8, pp. 940–954, 2010

[ BIB | DOI | URL ]

@article{2010:staniak_vs_structures-twiki,
  author = {Staniak, Maciej and Zieliński, Cezary},
  title = {Structures of visual servos},
  journal = {Robotics and Autonomous Systems},
  year = {2010},
  volume = {58},
  number = {8},
  pages = {940--954},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2010/2010_staniak_vs_structures.pdf},
  address = {Amsterdam, The Netherlands},
  doi = {10.1016/j.robot.2010.04.004},
  issn = {0921-8890},
  owner = {tkornuta},
  publisher = {North-Holland Publishing Co.},
  timestamp = {2010.10.13},
  note = {Zielinski}
}

T. Bem, T. Kornuta, and T. Winiarski

Zastosowanie wizyjnej struktury ramowej FraDIA w aplikacjach robotycznych. Część II: Aplikacje

in XI Krajowa Konferencja Robotyki – Problemy Robotyki, 2010, vol. 175, no. 2, pp. 573–582

[ BIB | abstract | URL ]

@inproceedings{kornuta:2010_fradia_aplikacje-eng,
  author = {Bem, T. and Kornuta, Tomasz and Winiarski, Tomasz},
  booktitle = {XI Krajowa Konferencja Robotyki -- Problemy Robotyki},
  title = {{Zastosowanie wizyjnej struktury ramowej FraDIA w~aplikacjach robotycznych. Część~II: Aplikacje}},
  year = {2010},
  note = {{(Utilization of the FraDIA vision framework in robotic applications. Part~II: Applications (In~Polish))}},
  number = {2},
  pages = {573--582},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  series = {Prace Naukowe – Elektronika},
  volume = {175},
  conference = {kkr11},
  projects = {GrantMNiSWN514128733},
  lang = {pl},
  location = {Karpacz, 9--12 Września 2010},
  owner = {tkornuta},
  timestamp = {2010.03.28},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2010/fradia_applications.pdf}
}

T. Kornuta and M. Pruchniak

Utilization of GPU for real–time vision in robotics

in Signal Processing: Algorithms, Architectures, Arrangements, and Applications, 2010, pp. 44–49

[ BIB | URL ]

@inproceedings{Kornuta:2010_gpu-twiki,
  author = {Kornuta, Tomasz and Pruchniak, Mateusz},
  booktitle = {Signal Processing: Algorithms, Architectures, Arrangements, and Applications},
  title = {Utilization of {GPU} for real--time vision in robotics},
  year = {2010},
  pages = {44--49},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2010/spa-2010-fradia-gpu.pdf},
  projects = {GrantMNiSWN514128733},
  owner = {tkornuta},
  timestamp = {2010.08.19},
  twiki = {article}
}

T. Kornuta

Application of the FraDIA vision framework for robotic purposes

in Proceedings of the International Conference on Computer Vision and Graphics, Part II, 2010, vol. 6375, pp. 65–72

[ BIB | URL ]

@inproceedings{tkornuta:2010_iccvg-twiki,
  author = {Kornuta, Tomasz},
  booktitle = {Proceedings of the International Conference on Computer Vision and Graphics, Part II},
  title = {Application of the {FraDIA vision} framework for robotic purposes},
  year = {2010},
  editor = {Bolc, Leonard and Tadeusiewicz, Ryszard and Chmielewski, Leszek and Wojciechowski, Konrad},
  volume = {6375},
  series = {Lecture Notes in Computer Science},
  pages = {65--72},
  publisher = {Springer Berlin / Heidelberg},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2010/2010_tkornuta_fradia_vision_framework.pdf},
  affiliation = {Institute of Control and Computation Engineering, Warsaw University of Technology, Nowowiejska 15/19, 00-665 Warsaw, Poland},
  projects = {GrantMNiSWN514128733},
  owner = {tkornuta},
  timestamp = {2010.05.14},
  twiki = {inbook}
}

T. Kornuta

Zastosowanie wizyjnej struktury ramowej FraDIA w aplikacjach robotycznych. Część I: Struktura

in XI Krajowa Konferencja Robotyki – Problemy Robotyki, 2010, vol. 175, no. 2, pp. 563–572

[ BIB | URL ]

@inproceedings{tkornuta-2010-fradia-struktura-twiki,
  author = {Kornuta, Tomasz},
  booktitle = {XI Krajowa Konferencja Robotyki -- Problemy Robotyki},
  title = {{Zastosowanie wizyjnej struktury ramowej FraDIA w~aplikacjach robotycznych. Część I: Struktura}},
  year = {2010},
  number = {2},
  pages = {563--572},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  series = {Prace Naukowe – Elektronika},
  volume = {175},
  conference = {kkr11},
  projects = {GrantMNiSWN514128733},
  lang = {pl},
  location = {Karpacz, 9--12 Września 2010},
  owner = {tkornuta},
  timestamp = {2010.03.28},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2010/fradia_structure.pdf}
}

P. Wawrzyński and T. Winiarski
Optymalizacja trajektorii manipulatora w oparciu o metody uczenia się
in XI Krajowa Konferencja Robotyki – Problemy Robotyki, 2010, vol. 2, pp. 485–494
[ BIB | abstract | URL ]
```
@inproceedings{Wawrzynski:2010otm-eng-twiki,
  author = {Wawrzyński, P. and Winiarski, Tomasz},
  booktitle = {XI Krajowa Konferencja Robotyki -- Problemy Robotyki},
  title = {Optymalizacja trajektorii manipulatora w~oparciu o~metody uczenia się},
  year = {2010},
  note = {{(Manipulator trajectory optimization based on learning techniques (in Polish))}},
  pages = {485--494},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  volume = {2},
  conference = {kkr11},
  projects = {GrantMNiSWN514237137},
  lang = {pl},
  location = {Karpacz, 9--12 Września 2010},
  owner = {yoyek},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2010/robot-neuronowy-kkr11.pdf}
}
```
Artykuł przedstawia metodę optymalizacji parametrycznych praw sterowania dla powtarzalnych ruchów systemu robotycznego. Metoda oparta jest na uczeniu się przez wzmacnianie oraz wielokrotnym powtarzaniu ruchu, nie obejmuje natomiast budowy i estymacji modelu dynamiki systemu robotycznego. Jakość prawa sterowania uzyskiwanego w prezentowanym tu podejściu nie jest więc ograniczona przez jakość modelu. Dlatego mogą˛ to być prawa optymalne dla założonych kryteriów oraz faktycznej dynamiki działającego sprzętu.
C. Zieliński and T. Winiarski
General specification of multi-robot control system structures
Bulletin of the Polish Academy of Sciences – Technical Sciences, vol. 58, no. 1, pp. 15–28, 2010
[ BIB | DOI | abstract | URL ]
```
@article{Zie:10BulPAN-twiki,
  author = {Zieliński, Cezary and Winiarski, Tomasz},
  title = {General specification of multi-robot control system structures},
  journal = {Bulletin of the Polish Academy of Sciences -- Technical Sciences},
  year = {2010},
  volume = {58},
  number = {1},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2010/BiuletynPAN2010.pdf},
  doi = {10.2478/v10175-010-0002-x},
  projects = {GrantMNiSWN514128733},
  lang = {en},
  pages = {15-28},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {jcr},
  note = {Zielinski}
}
```
The paper deals with structuring robot control systems. The control system is decomposed into distinct agents. An agent, in general, is responsible for control of its effector, perception of the environment for the purpose of its effector control, and inter-agent communication. The behaviour of the agent is governed by its set of transition functions. The control system consists of two tier – the upper tier is defined by the flow of information between the agents and the lower tier is defined by formal specification of each agent’s behaviour (influence on the environment, gathering sensor readings, production and consumption of the information for/from the other agents). The paper presents one of the examples of utilization of this approach. The example concerns multi-robot drawing copying system.

C. Zieliński, T. Winiarski, W. Szynkiewicz, T. Kornuta, and P. Trojanek

MRROC++ – Robot programing framework for multi-robot controllers development

in Inteligencja wokół nas. Współdziałanie agentów softwareowych, robotów, inteligentnych urządzeń, rozdział: MRROC++ –- programowa struktura ramowa do tworzenia sterowników systemów wielorobotowych, vol. 15,

S. Ambroszkiewicz, A. Borkowski, K. Cetnarowicz, and C. Zieliński, Eds. Monographs of the Committee for Automation and Robotics of Polish Academy of Sciences, EXIT, 2010, pp. 317–384

[ BIB ]

@inbook{Zielinski:2010_ambook_mrrocpp-eng-twiki,
  title = {MRROC++ – Robot programing framework for multi-robot controllers development},
  pages = {317--384},
  booktitle = {Inteligencja wokół nas. Współdziałanie agentów softwareowych, robotów, inteligentnych urządzeń, rozdział: MRROC++ –- programowa struktura ramowa do tworzenia sterowników systemów wielorobotowych},
  publisher = {Monographs of the Committee for Automation and Robotics of Polish Academy of Sciences, EXIT},
  year = {2010},
  author = {Zieliński, Cezary and Winiarski, Tomasz and Szynkiewicz, Wojciech and Kornuta, Tomasz and Trojanek, Piotr},
  editor = {Ambroszkiewicz, S. and Borkowski, A. and Cetnarowicz, K. and Zieliński, Cezary},
  volume = {15},
  projects = {GrantMNiSW3T11C03829},
  twiki = {inbook},
  note = {Intelligence around us. Interaction of software agents, robots, intelligent devices - Zielinski}
}

C. Zieliński, T. Winiarski, P. Trojanek, and T. Kornuta

Multi-agent control system specification of a robot based reconfigurable fixture

in Problems in Robotics, 2010, vol. 2, pp. 691–702

[ BIB | abstract | URL ]

@inproceedings{Zielinski2010mcz:en-twiki,
  author = {Zieliński, Cezary and Winiarski, Tomasz and Trojanek, Piotr and Kornuta, Tomasz},
  booktitle = {Problems in Robotics},
  title = {Multi-agent control system specification of a~robot based reconfigurable fixture},
  year = {2010},
  editor = {Tchoń, K. and Zieliński, Cezary},
  volume = {2},
  pages = {691--702},
  publisher = {Publishing House of Warsaw University of Technology},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2010/swarmitfix-kkr11.pdf},
  conference = {kkr11},
  projects = {fp7swarm},
  owner = {CZ},
  timestamp = {2012.04.12},
  twiki = {inbook},
  note = {Zielinski}
}

C. Zieliński and T. Winiarski
Motion Generation in the MRROC++ Robot Programming Framework
International Journal of Robotics Research, vol. 29, no. 4, pp. 386–413, 2010
[ BIB | DOI | abstract | URL ]
```
@article{zielinski2010motion-twiki,
  author = {Zieliński, Cezary and Winiarski, Tomasz},
  journal = {International Journal of Robotics Research},
  title = {{Motion Generation in the MRROC++ Robot Programming Framework}},
  year = {2010},
  note = {Zielinski},
  number = {4},
  pages = {386-413},
  volume = {29},
  doi = {10.1177/0278364909348761},
  projects = {GrantMNiSWN514128733},
  owner = {yoyek},
  publisher = {Multimedia Archives},
  timestamp = {2012.04.12},
  twiki = {jcr},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2010/MotionGeneration2009.pdf}
}
```
The paper presents a formal approach to robot motion specification. This motion specification takes into account three elementary behaviors that suffice to define any robot interaction with the environment, i.e.: free motion, exerting generalized forces and transition between both of those behaviors. Those behaviors provide a foundation for general motion generation taking into account any sensors, any effectors and the capability to exchange information between embodied agents. This specification can be used both for the definition of robot tasks and implementation of robot control software, hence both of those aspects are presented in the paper. This formal approach was used for the implementation of MRROC++ robot programming framework. As an exemplary task two-handed manipulation of a Rubik’s cube is used. Extensive experimentation both with the presented formalism and MRROC++ framework showed that the imposed formal rigor eliminates many errors at the software specification phase, produces well structured control software and significantly speeds up and simplifies its implementation. Those advantages are mainly due to the fact that the proposed formal specification tool is derived from operational semantics used in computer science forthe definition of programming languages, thus a close relationship between abstract definition and implementation of the control system resulted.

C. Zieliński and P. Trojanek

Współpraca robotów

in Inteligencja wokół nas. Współdziałanie agentów softwareowych, robotów, inteligentnych urządzeń, vol. 15,

S. Ambroszkiewicz, A. Borkowski, K. Cetnarowicz, and C. Zieliński, Eds. Monografie Komitetu Automatyki i Robotyki Polskiej Akademii Nauk, EXIT, 2010, pp. 301–315

[ BIB ]

@inbook{Zielinski:2010_robot_cooperation,
  title = {Współpraca robotów},
  pages = {301--315},
  booktitle = {Inteligencja wokół nas. Współdziałanie agentów softwareowych, robotów, inteligentnych urządzeń},
  publisher = {Monografie Komitetu Automatyki i Robotyki Polskiej Akademii Nauk, EXIT},
  year = {2010},
  author = {Zieliński, Cezary and Trojanek, Piotr},
  editor = {Ambroszkiewicz, S. and Borkowski, A. and Cetnarowicz, K. and Zieliński, Cezary},
  volume = {15},
  twiki = {inbook},
  note = {Zielinski}
}

C. Zieliński

Formalne podejście do programowania robotów — struktura układu sterującego

in Inteligencja wokół nas. Współdziałanie agentów softwareowych, robotów, inteligentnych urządzeń, vol. 15,

S. Ambroszkiewicz, A. Borkowski, K. Centarowicz, and C. Zieliński, Eds. Monografie Komitetu Automatyki i Robotyki Polskiej Akademii Nauk, EXIT, 2010, pp. 267–300

[ BIB ]

@inbook{Zielinski:2010_ambook_formalizm-twiki,
  title = {Formalne podejście do programowania robotów — struktura układu sterującego},
  pages = {267--300},
  booktitle = {Inteligencja wokół nas. Współdziałanie agentów softwareowych, robotów, inteligentnych urządzeń},
  publisher = {Monografie Komitetu Automatyki i Robotyki Polskiej Akademii Nauk, EXIT},
  year = {2010},
  author = {Zieliński, Cezary},
  editor = {Ambroszkiewicz, S. and Borkowski, A. and Centarowicz, K. and Zieliński, Cezary},
  volume = {15},
  projects = {GrantMNiSW3T11C03829},
  twiki = {inbook},
  note = {Zielinski}
}

P. Trojanek and C. Zieliński

Specyfikacja systemów wielorobotowych w oparciu o sieci Petriego

in Metody wytwarzania i zastosowania systemów czasu rzeczywistego. XVII Konferencja Systemy Czasu Rzeczywistego, Gdańsk, SCR’2010, 2010, pp. 47–58

[ BIB ]

@inproceedings{trojanek:2010_specification_petri_net,
  author = {Trojanek, Piotr and Zieliński, Cezary},
  title = {Specyfikacja systemów wielorobotowych w oparciu o sieci Petriego},
  booktitle = {Metody wytwarzania i zastosowania systemów czasu rzeczywistego. XVII Konferencja Systemy Czasu Rzeczywistego, Gdańsk, SCR'2010},
  year = {2010},
  pages = {47-58},
  note = {Zielinski}
}

C. Zieliński

Quo vadis robotyko?

Pomiary Automatyka Robotyka, no. 5, pp. 5–15, 2010

[ BIB ]

@article{ZielinskiQuoVadis:2010,
  author = {Zieliński, Cezary},
  title = {Quo vadis robotyko?},
  journal = {Pomiary Automatyka Robotyka},
  year = {2010},
  pages = {5--15},
  number = {5},
  lang = {pl},
  note = {Zielinski}
}

2009

T. Winiarski and C. Zieliński
Specification of multi-robot controllers on an example of a haptic device
in Robot Motion and Control 2009 (LNCiS) Lecture Notes in Control & Information Sciences, 2009, vol. 396, pp. 227–242
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Win:09RoMoCo-twiki,
  author = {Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {Robot Motion and Control 2009 (LNCiS) Lecture Notes in Control \& Information Sciences},
  title = {Specification of multi-robot controllers on an example of a~haptic device},
  year = {2009},
  editor = {K.~Kozłowski},
  volume = {396},
  pages = {227--242},
  publisher = {Springer Verlag London Limited},
  doi = {10.1007/978-1-84882-985-5_21},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2009/RoMoCo2009.pdf},
  conference = {romoco09},
  projects = {GrantMNiSWN514128733},
  lang = {en},
  location = {Czerniejewo, Poland},
  twiki = {inbook},
  note = {Zielinski}
}
```
The paper introduces the basic concepts necessary for the formal specification of the structure and operation of multi–robot control systems. The concept of: agents, images, transition functions and motion instructions are general and can be used in the specification of any multi–robot system. However, for the purpose of specifying a two–manipulator haptic system controller, general elementary behaviours are introduced and a control law enabling their implementation is formulated. The control system of a two–arm haptic device is specified formally. The control system has been implemented using MRROC++ robot programing framework. Finally the experiments carried out using this system are presented.
T. Winiarski
Specification and implementation of force control tasks for robot manipulators
PhD thesis, WUT, 2009
[ BIB | abstract | URL ]
```
@phdthesis{Winiarski:phd2009-twiki,
  author = {Winiarski, Tomasz},
  school = {WUT},
  title = {Specification and implementation of force control tasks for robot manipulators},
  year = {2009},
  owner = {Tomcio},
  timestamp = {2009.04.29},
  twiki = {thesis},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2009/winiarskiphd2009.pdf}
}
```
This monograph presents a formal approach to both force control classification and robot motion specification. The proposed motion specification takes into account three elementary behaviors that suffice to define any robot interaction with the environment, i.e.: free motion, exerting generalized forces and transition between both of those extreme behaviors. Those behaviors provide a foundation for general motion generation taking into account any sensors, any effectors and the capability to exchange information between embodied agents. This method of specification can be used both for the definition of robot tasks and implementation of robot control software, hence both of those aspects are presented. This formal approach was used for the implementation of MRROC++robot programming framework. To verify this specification method a wide range of tasks has been chosen both for the purpose of task specification and its implementation. The following tasks are presented in this monograph - contour following, turning a crank, copying drawings, two-handed manipulation of a Rubik’s cube, haptic coupling and parallel visual–force control. Extensive experimentation both with the presented formalism and MRROC++ framework showed that the imposed formal rigor eliminates many errors at the software specification phase, produces well structured control software and significantly speeds up and simplifies its implementation. Those advantages are mainly due to the fact that the proposed formal specification tool is derived from operational semantics used in computer science for the definition of programming languages, thus a close relationship between abstract definition and implementation of the control system resulted.

N. W. Koh, C. Zieliński, and M. H. Ang

The Matrix-based Framework: Its role as a Job-Agent Supervisory Controller

Advanced Robotics, vol. 23, no. 12/13, pp. 1663–1686, Sept. 2009

[ BIB ]

@article{KohNW2009AdvRobMatrix,
  author = {Koh, N.W. and Zieliński, Cezary and Ang, M.H.},
  journal = {Advanced Robotics},
  title = {{The Matrix-based Framework: Its role as a~Job-Agent Supervisory Controller}},
  year = {2009},
  month = sep,
  note = {Zielinski},
  number = {12/13},
  pages = {1663--1686},
  volume = {23},
  lang = {en}
}

C. Zieliński and P. Trojanek

Stigmergic cooperation of autonomous robots

Journal of Mechanism and Machine Theory, vol. 44, pp. 656–670, Apr. 2009

[ BIB ]

@article{stigmergic:2009,
  author = {Zieliński, Cezary and Trojanek, Piotr},
  title = {Stigmergic cooperation of autonomous robots},
  journal = {Journal of Mechanism and Machine Theory},
  year = {2009},
  volume = {44},
  pages = {656--670},
  month = apr,
  lang = {en},
  note = {Zielinski}
}

2008

R. Chojecki, M. Olszewski, T. Pietrzak, P. Fryc, and M. Walęcki

Budowa inspekcyjnego robota mobilnego WARRIOR I

in X Krajowa Konferencja Robotyki – Problemy Robotyki, 2008, vol. 2, pp. 153–160

[ BIB ]

@inproceedings{Cho:08KKR-twiki,
  author = {Chojecki, Rafał and Olszewski, Mariusz and Pietrzak, Tomasz and Fryc, Piotr and Walęcki, Michał},
  booktitle = {X Krajowa Konferencja Robotyki -- Problemy Robotyki},
  title = {Budowa inspekcyjnego robota mobilnego WARRIOR I},
  year = {2008},
  volume = {2},
  pages = {153--160},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  lang = {pl},
  location = {Piechowice, 3--6 Września 2008},
  owner = {mw},
  timestamp = {2011.07.11},
  twiki = {article}
}

A. Karbowski, M. Majchrowski, and P. Trojanek
jParalize – a simple, free and lightweight tool for parallelizing Matlab calculations on multicores and in clusters
Minisymposium on HPC Software: Tools, Libraries and Frameworks, PARA 2008: 9th International Workshop on State-of-the-Art in Scientific and Parallel Computing. NTNU, Trondheim, Norway, May-2008
[ BIB | abstract | URL ]
```
@misc{jParalize-twiki,
  author = {Karbowski, A. and Majchrowski, M. and Trojanek, Piotr},
  howpublished = {Minisymposium on HPC Software: Tools, Libraries and Frameworks, PARA 2008: 9th International Workshop on State-of-the-Art in Scientific and Parallel Computing. NTNU, Trondheim, Norway},
  month = may,
  title = {{jParalize} -- a~simple, free and lightweight tool for parallelizing {M}atlab calculations on multicores and in clusters},
  year = {2008},
  lang = {en},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2008/jparal-para08.pdf}
}
```
We present a very simple, reliable, efficient and free tool for parallelizing calculations under Matlab in multicore and cluster environments. It does not use any compilers, MEX files, disk files, etc.. It is compatible with old Paralize package, but allows the involved cores/machines to do other jobs when a server is not busy.

T. Kornuta and C. Zieliński

Wykorzystanie przez robota aktywnej wizji do identyfikacji obiektów

in X Krajowa Konferencja Robotyki, 2008, vol. Problemy Robotyki, Tom 2, Roboty Inteligentne, pp. 661–670

[ BIB | abstract | URL ]

@inproceedings{KZ:KKR10-eng-twiki,
  author = {Kornuta, Tomasz and Zieliński, Cezary},
  booktitle = {X Krajowa Konferencja Robotyki},
  title = {Wykorzystanie przez robota aktywnej wizji do identyfikacji obiektów},
  year = {2008},
  editor = {Tchoń, K. and Zieliński, Cezary},
  volume = {Problemy Robotyki, Tom 2, Roboty Inteligentne},
  pages = {661-670},
  publisher = {Oficyna Wydawnicza PW},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2008/kkr10_tkornuta_czielinski_aktywna_wizja.pdf},
  projects = {GrantUPBHSWRM},
  lang = {pl},
  location = {Piechowice, 3--6 Września 2008},
  owner = {tkornuta},
  timestamp = {2008.09.15},
  twiki = {inbook},
  note = {Utilization of active vision for object identification - Zielinski}
}

P. Trojanek and C. Zieliński
A Method of Integrating Robot Programming Frameworks
in 17th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (RoManSy’08), 2008
[ BIB | abstract | URL ]
```
@inproceedings{RoManSy-twiki,
  author = {Trojanek, Piotr and Zieliński, Cezary},
  booktitle = {17th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (RoManSy'08)},
  title = {A~Method of Integrating Robot Programming Frameworks},
  year = {2008},
  month = jul,
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2008/frameworks.pdf},
  location = {Waseda University, Tokyo, Japan},
  owner = {yoyek},
  timestamp = {2012.04.12},
  note = {Zielinski}
}
```
There is an ongoing quest for producing an ultimate robot programming framework that can be utilised in the design of controllers for any types of robots and moreover executing any tasks. Although many solutions have been presented since the early eighties of the XX century and much progress has been attained, the ultimate solution is still far away. The designed frameworks excel in certain areas, while exhibit significant drawbacks in some other. This paper focuses on an alternative solution to this problem – on fusion of programming frameworks. However, this shifts the problem to another area, namely the communication between the software originating with different frameworks. Combining the capabilities of \MR++ and \ProgLanFont Player is presented as an example.
M. Staniak, T. Winiarski, and C. Zieliński
Parallel Visual-Force Control
in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS ’08, Nice, France, 2008
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Staniak:Pvfc2008-twiki,
  author = {Staniak, Maciej and Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS '08},
  title = {Parallel Visual-Force Control},
  year = {2008},
  doi = {10.1109/IROS.2008.4650654},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2008/StaniakPvfc2008.pdf},
  address = {Nice, France},
  conference = {iros08},
  projects = {GrantUPBHSWRM},
  lang = {en},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Zielinski}
}
```
Visual servos are inherently inaccurate due to lower resolution of reasonably priced cameras and poor calibration of robot-camera relative position and robot kinematic model. Instead of trying to improve those factors the paper presents an alternative solution in which the grasping operation is aided by force control which accommodates positional inaccuracies. The developed control law utilizes the superposition of visually generated desired position and desired mechanical impedance of the manipulator.

P. Trojanek

Mechanizmy komunikacji jawnej w programowych strukturach ramowych

in X Krajowa Konferencja Robotyki - Problemy Robotyki, 2008, vol. 2, pp. 369–378

[ BIB | URL ]

@inproceedings{Trojanek08-twiki,
  author = {Trojanek, Piotr},
  booktitle = {X Krajowa Konferencja Robotyki - Problemy Robotyki},
  title = {Mechanizmy komunikacji jawnej w~programowych strukturach ramowych},
  year = {2008},
  editor = {Tchoń, Krzysztof and Zieliński, Cezary},
  volume = {2},
  pages = {369--378},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2008/komunikacja.pdf},
  owner = {ptroja},
  timestamp = {2008.10.20}
}

T. Winiarski and C. Zieliński
Podstawy Sterowania Siłowego w Robotach
Pomiary Automatyka Robotyka, vol. 12, no. 6, pp. 5–10, 2008
[ BIB | abstract | URL ]
```
@article{Winiarski:psswr2008-eng-twiki,
  author = {Winiarski, Tomasz and Zieliński, Cezary},
  journal = {Pomiary Automatyka Robotyka},
  title = {{Podstawy Sterowania Siłowego w~Robotach}},
  year = {2008},
  month = {Czerwiec},
  note = {Basics of robot force control - Zielinski},
  number = {6},
  pages = {5--10},
  volume = {12},
  projects = {GrantUPBHSWRM},
  lang = {pl},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2008/WiniarskiPsswr2008.pdf}
}
```
Pomiar sił w istotny sposób rozszerza możliwości wykonywania zadań przez tradycyjne roboty korzystające jedynie z pomiarów położenia członów. Stąd duże zainteresowanie tego typu metodami. Artykuł przedstawia przegląd metod sterowania korzystających z pomiarów sił i momentów sił powstających w interakcji robota z otoczeniem w odniesieniu do popularnych dotychczas metod pozycyjnych.
T. Winiarski, M. Staniak, and C. Zieliński
Równoległe siłowo-wizyjne sterowanie robotami
XVI Krajowa Konferencja Automatyki, 2008
[ BIB | abstract | URL ]
```
@article{Winiarski:Rswsr2008-eng-twiki,
  author = {Winiarski, Tomasz and Staniak, Maciej and Zieliński, Cezary},
  journal = {XVI Krajowa Konferencja Automatyki},
  title = {{Równoległe siłowo-wizyjne sterowanie robotami}},
  year = {2008},
  month = {Maj},
  note = {Parallel visual-force control of robots - Zielinski},
  projects = {GrantUPBHSWRM},
  lang = {pl},
  place = {Szczyrk},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2008/WiniarskiRswsr2008.pdf}
}
```
Dokładność serwomechanizmów wizyjnych jest uwarunkowana rozdzielczością użytej kamery oraz dokładnością kalibracji wzajemnego położenia kamery i robota oraz modelu kinematyki robota. Zamiast próbować wpływać na te czynniki zaproponowano tu zwiększenie dokładności serwomechanizmu wizyjnego poprzez wykorzystanie sterowania pozycyjno-siłowego w fazie chwytania obiektu, gdy precyzja ruchów musi być największa. Opracowane prawo sterowania korzysta z superpozycji wartości zadanej pozycji wygenerowanej przez układ wizyjny oraz pożądanej mechanicznej impedancji manipulatora. Eksperymenty przeprowadzono na robocie wyposażonym w sterownik oparty na programowej strukturze ramowej MRROC++.
T. Winiarski and C. Zieliński
Sterowanie interakcją manipulatora ze środowiskiem - część pierwsza
in X Krajowa Konferencja Robotyki – Problemy Robotyki, 2008, vol. 2, pp. 473–482
[ BIB | abstract | URL ]
```
@inproceedings{Winiarski:Simzs2008p1-twiki,
  author = {Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {X Krajowa Konferencja Robotyki -- Problemy Robotyki},
  title = {Sterowanie interakcją manipulatora ze środowiskiem - część pierwsza},
  year = {2008},
  volume = {2},
  pages = {473--482},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2008/WiniarskiSimzs2008p1.pdf},
  projects = {GrantMNiSWN514128733},
  lang = {pl},
  location = {Piechowice, 3--6 Września 2008},
  twiki = {inbook},
  note = {Zielinski}
}
```
The article presents the specification (in part 1) and implementation (in part 2) of elementary behaviors used to define diverse tasks executed by service robots. Three main behaviors are defined: unconstrained motion with the assumption that no contact with obstacles will occur, maintaining contact with the environment, intermediate or transitional behavior – where initially unconstrained motion is expect to result in an eventual contact, or vice versa. The proposed approach is illustrated by an example of the end–effector following of an unknown contour.

T. Winiarski and C. Zieliński

Sterowanie interakcją manipulatora ze środowiskiem - część druga

in X Krajowa Konferencja Robotyki – Problemy Robotyki, 2008, vol. 2, pp. 483–492

[ BIB | abstract | URL ]

@inproceedings{Winiarski:Simzs2008p2-twiki,
  author = {Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {X Krajowa Konferencja Robotyki -- Problemy Robotyki},
  title = {Sterowanie interakcją manipulatora ze środowiskiem - część druga},
  year = {2008},
  volume = {2},
  pages = {483--492},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2008/WiniarskiSimzs2008p2.pdf},
  conference = {kkr10},
  projects = {GrantMNiSWN514128733},
  lang = {pl},
  location = {Piechowice, 3--6 Września 2008},
  twiki = {inbook},
  note = {Zielinski}
}

C. Zieliński

Roboty w służbie ludzi starszych

in Polska w obliczu starzenia się społeczeństwa,

Warszawa: Polska Akademia Nauk, Kancelaria PAN, Komitet Prognoz ”Polska 2000 Plus” przy Prezydium PAN, 2008, pp. 154–169

[ BIB ]

@incollection{ZielinskiStarsi2008,
  author = {Zieliński, Cezary},
  title = {Roboty w~służbie ludzi starszych},
  booktitle = {Polska w~obliczu starzenia się społeczeństwa},
  publisher = {Polska Akademia Nauk, Kancelaria PAN, Komitet Prognoz ''Polska 2000 Plus'' przy Prezydium PAN},
  year = {2008},
  pages = {154--169},
  address = {Warszawa},
  note = {Zielinski}
}

2007

W. Czajewski and M. Staniak

Real-Time Image Segmentation for Visual Servoing

ICANNGA, vol. 2, pp. 633–640, 2007

[ BIB | DOI ]

@article{czajsta07icannga-twiki,
  author = {Czajewski, W. and Staniak, Maciej},
  title = {Real-Time Image Segmentation for Visual Servoing},
  year = {2007},
  volume = {2},
  pages = {633-640},
  booktitle = {ICANNGA},
  doi = {10.1007/978-3-540-71629-7_71},
  projects = {GrantMNiI4T11A00325},
  lang = {en},
  twiki = {article}
}

P. Trojanek, C. Zieliński, and W. Szynkiewicz
Definition and Composition of Individual Robot Behaviours in Cooperative Box Pushing
in Proceedings of the 13th IEEE IFAC International Conference on Methods and Models in Automation and Robotics (on CD), 2007
[ BIB | abstract | URL ]
```
@inproceedings{Trojanek2007-twiki,
  author = {Trojanek, Piotr and Zieliński, Cezary and Szynkiewicz, Wojciech},
  booktitle = {Proceedings of the 13th IEEE IFAC International Conference on~Methods and~Models in~Automation and~Robotics (on~CD)},
  title = {Definition and Composition of Individual Robot Behaviours in Cooperative Box Pushing},
  year = {2007},
  month = {29--30 August},
  publisher = {Technical University of Szczecin},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2007/mmar_0216_paper.pdf},
  lang = {en},
  location = {Szczecin, Poland},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Zielinski}
}
```
This paper proposes an approach to the problem of defining both a set of behaviours of an individual robot and the method of their composition, so that a multi-robot system executes a general task. Multi-robot box pushing as an example of the cooperative transportation task carried out by teams of robots is considered. An exemplary task consists in pushing a box by two mobile robots, that are unaware of each others actions, along a partially specified trajectory. The formal specification method of the behaviours and their composition is presented, so that their implementation is accurate and simple. The simulation results show that the presented method of designing a behaviour based controller produces a satisfactory result.
C. Zieliński, T. Winiarski, K. Mianowski, A. Rydzewski, and W. Szynkiewicz
End-Effector Sensors Role in Service Robots
in Robot Motion and Control 2007 (LNCiS) Lecture Notes in Control and Information Sciences, 2007, pp. 401–413
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Zielinski:EndEffectorSensorsRole2007-twiki,
  author = {Zieliński, Cezary and Winiarski, Tomasz and Mianowski, K. and Rydzewski, A. and Szynkiewicz, Wojciech},
  booktitle = {Robot Motion and Control 2007 (LNCiS) Lecture Notes in Control and Information Sciences},
  title = {End-Effector Sensors Role in Service Robots},
  year = {2007},
  editor = {Kozłowski, K.},
  month = jun,
  note = {Zielinski},
  pages = {401--413},
  publisher = {Springer Verlag London Limited},
  doi = {10.1007/978-1-84628-974-3_37},
  projects = {GrantMNiI4T11A00325},
  isbn = {78-1-84628-973-6},
  lang = {en},
  owner = {yoyek},
  place = {6th International Workshop on Robot Motion and Control Bukowy Dworek, Poland},
  timestamp = {2012.04.12},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2007/ZieRoMoCo2007.pdf}
}
```
The paper focuses on an end-effector for a service robot. During design of the effector situations causing control problems must be anticipated, thus sensors and special features are incorporated. However, tests on a benchmark task (two-handed solution of a Rubik’s cube puzzle) showed that some of those sensors and features are redundant. Nevertheless, other tasks might require them. The paper presents the overall system control structure, showing how the end-effector control (including the sensors) has been incorporated. Moreover, it tries to draw more general conclusions as to the influence of sensing capabilities of the end-effector on the system control.
C. Zieliński, W. Szynkiewicz, T. Winiarski, M. Staniak, W. Czajewski, and T. Kornuta
Rubik’s cube as a benchmark validating MRROC++ as an implementation tool for service robot control systems
Industrial Robot: An International Journal, vol. 34, no. 5, pp. 368–375, 2007
[ BIB | DOI | abstract | URL ]
```
@article{zielinski2007rsc-twiki,
  author = {Zieliński, Cezary and Szynkiewicz, Wojciech and Winiarski, Tomasz and Staniak, Maciej and Czajewski, W. and Kornuta, Tomasz},
  journal = {Industrial Robot: An International Journal},
  title = {{Rubik's cube as a~benchmark validating MRROC++ as an implementation tool for service robot control systems}},
  year = {2007},
  note = {Zielinski},
  number = {5},
  pages = {368--375},
  volume = {34},
  doi = {10.1108/01439910710774377},
  projects = {GrantMNiI4T11A00325},
  owner = {yoyek},
  publisher = {Emerald Group Publishing Limited},
  timestamp = {2012.04.12},
  twiki = {jcr},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2007/rubik-cube-benchmark.pdf}
}
```
The purpose is to develop universal software (a programming framework) enabling the implementation of service robot controllers. The software should distinguish the hardware oriented part of the system from the task oriented one. Moreover, force, vision as well as other sensors should be taken into account. Multi-effector systems have to be considered. The robot programming framework MRROC++ has been implemented as a hierarchical structure composed of processes, potentially consisting of threads. All of the software is written in object oriented manner using C++ and is supervised by QNX real-time operating system. The framework has been verified on several systems executing diverse tasks. Here a Rubik’s cube puzzle solving system, consisting of two arms and utilizing force control and visual servos, is presented. The presented framework is well suited to tasks requiring two-handed manipulation with force sensing, visual servoing and on-line construction of plans of actions. The Rubik’s cube puzzle is a reasonable initial benchmark for validation of fundamental service robot capabilities. The MROC++ robot programming framework can be applied to the implementation of diverse robot controllers executing complex service tasks. A demanding benchmark task for service robots has been formulated. This task, as well as many others, have been used to validate the MRROC++ robot programming framework which significantly facilitates the implementation of diverse robot systems. The proposed software structure does not limit the implementation of service robot controllers. However, some of the specific algorithms used for the solution of the benchmark task (i.e., Rubik’s cube puzzle) need to be less time consuming.

C. Zieliński

Perspektywy wykorzystania robotów

in Przyszłość: Świat-Europa-Polska, vol. 16, no. 2,

Warszawa: Biuletyn Komitetu Prognoz ,,Polska 2000 Plus” przy Prezydium Polskiej Akademii Nauk, 2007, pp. 67–80

[ BIB ]

@incollection{ZielinskiPerspektywy2007,
  author = {Zieliński, Cezary},
  title = {Perspektywy wykorzystania robotów},
  booktitle = {Przyszłość: Świat-Europa-Polska},
  publisher = {Biuletyn Komitetu Prognoz ,,Polska 2000 Plus'' przy Prezydium Polskiej Akademii Nauk},
  year = {2007},
  volume = {16},
  number = {2},
  pages = {67--80},
  address = {Warszawa},
  note = {Zielinski}
}

N. W. Koh, C. Zieliński, M. H. Ang, and S. Y. Lim

Job-agents: How to coordinate them?

in Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007, pp. 4436–4441

[ BIB | DOI ]

@inproceedings{Koh:2007,
  author = {Koh, N. W. and Zieliński, Cezary and Ang, M. H. and Lim, S. Y.},
  booktitle = {Proceedings 2007 IEEE International Conference on Robotics and Automation},
  title = {Job-agents: How to coordinate them?},
  year = {2007},
  volume = {},
  number = {},
  pages = {4436-4441},
  keywords = {multi-robot systems;robot programming;software reusability;job agent coordination;software reuse;transition function;robot controller;multiple agents;communication channel;supervisory controller;Robot programming;Robot kinematics;Communication system control;Robot control;Engines;Robotics and automation;Functional programming;Robot sensing systems;Sensor systems;Communication channels},
  doi = {10.1109/ROBOT.2007.364162},
  issn = {1050-4729},
  month = apr,
  note = {Zielinski}
}

2006

T. Kornuta, M. Wojtyra, K. Mianowski, and C. Zieliński
Kalibracja systemu wielorobotowego
in IX Krajowa Konferencja Robotyki – Postępy Robotyki: Systemy i współdziałanie robotów, 2006, vol. 2, pp. 97–106
[ BIB | abstract | URL ]
```
@inproceedings{KornutaWarszawa2006-twiki,
  author = {Kornuta, Tomasz and Wojtyra, M. and Mianowski, K. and Zieliński, Cezary},
  booktitle = {IX Krajowa Konferencja Robotyki -- Postępy Robotyki: Systemy i~współdziałanie robotów},
  title = {Kalibracja systemu wielorobotowego},
  year = {2006},
  editor = {Tchoń, K.},
  volume = {2},
  pages = {97--106},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2006/kkr9_kalibracja_ukladu.pdf},
  projects = {GrantMNiI4T11A00325},
  lang = {pl},
  location = {Piechowice, 13--16 Września 2006},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {inbook},
  note = {Zielinski}
}
```
CALIBRATION OF A ROBOTIC SYSTEM This paper presents method for calibration of a robotic system consisting of multiple ma- nipulators with the aid of a passive parallel measurement robot POLMAN-6L. Measurement manipulator is used to measure in multiple points positions and orientations of the ends of one manipulator after another. Those measures are next used in calculations of the translations and rotations between measured robots and measurement manipulator base coordinates systems. The paper describes not only calibration algorithm, but also construction of the parallel mea- surement robot and software used during the experiments. Finally results for calibration of a robotic system consisting of two IRp-6 manipulators are presented.
M. Olszewski, B. Siemiątkowska, R. Chojecki, P. Marcinkiewicz, P. Trojanek, and M. Majchrowski
Mobile robot localization using laser range scanner and omni-camera
in CISM Courses and Lectures - 16th CISM–IFToMM Symposium on Robot Design, Dynamics and Control, RoManSy’06, Wien, New York, 2006, no. 487, pp. 229–236
[ BIB | abstract | URL ]
```
@inproceedings{Olszewski:06-twiki,
  author = {Olszewski, M. and Siemiątkowska, B. and Chojecki, R. and Marcinkiewicz, P. and Trojanek, Piotr and Majchrowski, M.},
  booktitle = {CISM Courses and Lectures - 16th CISM--IFToMM Symposium on Robot Design, Dynamics and Control, RoManSy'06},
  title = {Mobile robot localization using laser range scanner and omni-camera},
  year = {2006},
  editor = {T.~Zielińska and C.~Zieliński},
  number = {487},
  pages = {229--236},
  month = jun,
  publisher = {Springer},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2006/romanst_v1.pdf},
  address = {Wien, New York},
  lang = {en},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article}
}
```
In this paper a method of mobile robot localization in an unknown indoor environment is presented. The robot is equipped with a single omni-directional camera and a laser range finder. The data of the 2D scanner is used to detect walls in the robot environment. The images taken from omnicamera allow to detect texture on the walls. The robotÂ’s position can easily be estimated by combining information taken from the camera and from the laser scanner and this data can be used to follow the robotÂ’s path. The method has been tested with the use of mobilen robot ELEKTRON R1 in a real office environment.

M. Staniak and W. Czajewski

Object localisation and identification for the purpose of manipulation (in Polish)

IX Krajowa Konferencja Robotyki – Postępy Robotyki: Systemy i współdziałanie robotów, vol. 2, pp. 85–94, 2006

[ BIB ]

@article{staczaj07kkr-twiki,
  author = {Staniak, Maciej and Czajewski, W.},
  title = {Object localisation and identification for the purpose of manipulation {(in Polish)}},
  year = {2006},
  volume = {2},
  pages = {85--94},
  note = {Sterowania siłowe w~systemach dwuramiennych},
  booktitle = {IX Krajowa Konferencja Robotyki -- Postępy Robotyki: Systemy i~współdziałanie robotów},
  editor = {Tchoń, K.},
  projects = {GrantMNiI4T11A00325},
  lang = {pl},
  location = {Piechowice, 13--16 September 2006},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  twiki = {article}
}

M. Staniak and C. Zieliński
Serwomechanizmy wizyjne - część 1
Pomiary-Automatyka-Kontrola PAK, no. 5, pp. 9–12, 2006
[ BIB | abstract | URL ]
```
@article{stanziel07pak1-twiki,
  author = {Staniak, Maciej and Zieliński, Cezary},
  title = {Serwomechanizmy wizyjne - część 1},
  journal = {Pomiary-Automatyka-Kontrola PAK},
  year = {2006},
  number = {5},
  pages = {9--12},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2006/StaZie06PakDraft.pdf},
  projects = {GrantMNiI4T11A00325},
  lang = {pl},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Zielinski}
}
```
Dzięki stałemu zwiększaniu mocy obliczeniowej komputerów oraz intensywnemu rozwojowi metod sterowania robotów stało się możliwe wykorzystanie ich nie tylko w przemyśle, ale również do wykonywania zadań usługowych. Istotnym elementem układów sterowania robotów usługowych jest zdolność do przetwarzania informacji wizyjnej otrzymywanej z otoczenia robota. Artykuł stanowi wprowadzenie w zagadnienia związane z wykorzystywaniem kamer do sterowania ruchem robotów. Jego głównym celem jest przedstawienie struktur serwomechanizmów wizyjnych. Praca przedstawia wady i zalety przytoczonych struktur. Ponieważ artykuł ma charakter wprowadzający w dziedzinę, na początku zdefiniowano podstawowe pojęcia związane ze sterowaniem robotami.
M. Staniak and C. Zieliński
Serwomechanizmy wizyjne - część 2
Pomiary-Automatyka-Kontrola PAK, no. 11, pp. 30–34, 2006
[ BIB | abstract | URL ]
```
@article{stanziel07pak2-twiki,
  author = {Staniak, Maciej and Zieliński, Cezary},
  title = {Serwomechanizmy wizyjne - część 2},
  journal = {Pomiary-Automatyka-Kontrola PAK},
  year = {2006},
  number = {11},
  pages = {30--34},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2006/StaZie06PakDraft.pdf},
  projects = {GrantMNiI4T11A00325},
  lang = {pl},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Zielinski}
}
```
Dzięki stałemu zwiększaniu mocy obliczeniowej komputerów oraz intensywnemu rozwojowi metod sterowania robotów stało się możliwe wykorzystanie ich nie tylko w przemyÂśle, ale również do wykonywania zadań usługowych. Istotnym elementem układów sterowania robotów usługowych jest zdolnoÂść do przetwarzania informacji wizyjnej otrzymywanej z otoczenia robota. Artykuł stanowi wprowadzenie w zagadnienia związane z wykorzystywaniem kamer do sterowania ruchem robotów. Jego głównym celem jest przedstawienie struktur serwomechanizmów wizyjnych. Praca przedstawia wady i zalety przytoczonych struktur. Ponieważ artykuł ma charakter wprowadzający w dziedzinę, na początku zdefiniowano podstawowe pojęcia związane ze sterowaniem robotami.
W. Szynkiewicz, C. Zieliński, W. Czajewski, and T. Winiarski
Control Architecture for Sensor-Based Two-Handed Manipulation
in CISM Courses and Lectures – 16th CISM–IFToMM Symposium on Robot Design, Dynamics and Control, RoManSy’06, June 20–24, Wien, New York, 2006, no. 487, pp. 237–244
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Szynkiewicz:06-06Romansy-twiki,
  author = {Szynkiewicz, Wojciech and Zieliński, Cezary and Czajewski, W. and Winiarski, Tomasz},
  booktitle = {CISM Courses and Lectures -- 16th CISM--IFToMM Symposium on Robot Design, Dynamics and Control, RoManSy'06, June 20--24},
  title = {{Control Architecture for Sensor-Based Two-Handed Manipulation}},
  year = {2006},
  address = {Wien, New York},
  editor = {T.~Zielińska and C.~Zieliński},
  note = {Zielinski},
  number = {487},
  pages = {237--244},
  publisher = {Springer},
  doi = {10.1007/3-211-38927-X_31},
  projects = {GrantMNiI4T11A00325},
  lang = {en},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2006/2hand-manip-final-romansy2006.pdf}
}
```
In this paper we propose a sensor-based control architecture for two- handed robotic manipulation in a partially structured environment. We deal with two major aspects of sensor-based manipulation: visual localisation and recognition of objects and utilization of force and torque measurements. We also take into account that service robots should be endowed with reasoning capabilities about motions that have to executed and that high level operations must be translated into trajectories to be executed by the manipulators. As a benchmark task we chose the manipulation of Rubik’s cube.

W. Szynkiewicz, R. Chojecki, A. Rydzewski, M. Majchrowski, and P. Trojanek

Modułowy robot mobilny Elektron

in IX Krajowa Konferencja Robotyki – Postępy Robotyki: Systemy i współdziałanie robotów, vol. 1,

K. Tchoń, Ed. Wydawnictwa Komunikacji i Łączności, 2006, pp. 265–274

[ BIB | URL ]

@incollection{Szynkiewicz:06-twiki,
  author = {Szynkiewicz, Wojciech and Chojecki, R. and Rydzewski, A. and Majchrowski, M. and Trojanek, Piotr},
  title = {Modułowy robot mobilny Elektron},
  booktitle = {IX Krajowa Konferencja Robotyki -- Postępy Robotyki: Systemy i~współdziałanie robotów},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  year = {2006},
  editor = {Tchoń, K.},
  volume = {1},
  pages = {265--274},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2006/Electron.pdf},
  lang = {pl},
  twiki = {article}
}

T. Winiarski and C. Zieliński

Sterowanie siłowe w systemach dwuramiennych

in IX Krajowa Konferencja Robotyki – Postępy Robotyki: Systemy i współdziałanie robotów, 2006, vol. 2, pp. 267–276

[ BIB | abstract | URL ]

@inproceedings{TWCZ-KKR9-06-twiki,
  author = {Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {IX Krajowa Konferencja Robotyki -- Postępy Robotyki: Systemy i~współdziałanie robotów},
  title = {Sterowanie siłowe w~systemach dwuramiennych},
  year = {2006},
  editor = {Tchoń, K.},
  volume = {2},
  pages = {267--276},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2006/sila-kkr9.pdf},
  conference = {kkr9},
  projects = {GrantMNiI4T11A00325},
  lang = {en},
  location = {Piechowice, 13--16 September 2006},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Zielinski}
}

C. Zieliński, W. Szynkiewicz, T. Winiarski, and M. Staniak
Rubik’s Cube Puzzle as a Benchmark for Service Robots
in 12th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2006, 2006, pp. 579–584
[ BIB | abstract | URL ]
```
@inproceedings{Zielinski2006c-twiki,
  author = {Zieliński, Cezary and Szynkiewicz, Wojciech and Winiarski, Tomasz and Staniak, Maciej},
  booktitle = {12th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2006},
  title = {Rubik's Cube Puzzle as a~Benchmark for Service Robots},
  year = {2006},
  pages = {579--584},
  month = aug,
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2006/WUT-mmar06.pdf},
  projects = {GrantMNiI4T11A00325},
  lang = {en},
  location = {Miedzyzdroje, Poland},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Zielinski}
}
```
This paper describes Rubik’s cube manipulation as an example of highly demanding benchmark task for two-handed service robot. Vision is used both for acquiring the cube (servoing) and identifying its initial configuration. During two-handed manipulation force/torque measurements are used to prevent jamming of the cube. Rubik’s cube solver, nominal trajectory generation, visual servoing, and position-force control have been successfully integrated by the MRROC++ robot programming framework.

C. Zieliński, W. Szynkiewicz, K. Mianowski, A. Rydzewski, and T. Winiarski

Efektory robota usługowego do dwuręcznej manipulacji z czuciem

in IX Krajowa Konferencja Robotyki – Postępy Robotyki: Systemy i współdziałanie robotów, 2006, vol. 2, pp. 257–266

[ BIB | abstract | URL ]

@inproceedings{ZielinskiWarsaw2006a-twiki,
  author = {Zieliński, Cezary and Szynkiewicz, Wojciech and Mianowski, K. and Rydzewski, A. and Winiarski, Tomasz},
  booktitle = {IX Krajowa Konferencja Robotyki -- Postępy Robotyki: Systemy i~współdziałanie robotów},
  title = {Efektory robota usługowego do dwuręcznej manipulacji z~czuciem},
  year = {2006},
  editor = {Tchoń, K.},
  volume = {2},
  pages = {257--266},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2006/Efektor-kkr9.pdf},
  conference = {kkr9},
  projects = {GrantMNiI4T11A00325},
  lang = {en},
  location = {Piechowice, 13--16 September 2006},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Effectors of a~Service Robot Capable of Dexterous Two-Handed Manipulation - Zielinski}
}

C. Zieliński, W. Szynkiewicz, P. Trojanek, and M. Majchrowski

Sterowanie zespołu heterogenicznych robotów na przykładzie pchania pudła

in IX Krajowa Konferencja Robotyki – Postępy robotyki: Systemy i współdziałanie robotów, 2006, vol. 2, pp. 299–308

[ BIB | URL ]

@inproceedings{ZielinskiWarsaw2006b-twiki,
  author = {Zieliński, Cezary and Szynkiewicz, Wojciech and Trojanek, Piotr and Majchrowski, M.},
  booktitle = {IX Krajowa Konferencja Robotyki -- Postępy robotyki: Systemy i~współdziałanie robotów},
  title = {Sterowanie zespołu heterogenicznych robotów na przykładzie pchania pudła},
  year = {2006},
  editor = {Tchoń, K.},
  volume = {2},
  pages = {299--308},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2006/Pudlo.pdf},
  lang = {en},
  location = {Piechowice, 13--16 September 2006},
  twiki = {article},
  note = {Zielinski}
}

C. Zieliński, W. Szynkiewicz, T. Winiarski, W. Czajewski, and M. Staniak
Układanie kostki Rubika jako zadanie testujące zdolności robota usługowego
in IX Krajowa Konferencja Robotyki – Postępy Robotyki: Systemy i współdziałanie robotów, 2006, vol. 2, pp. 237–246
[ BIB | abstract | URL ]
```
@inproceedings{ZielinskiWarsaw2006c-twiki,
  author = {Zieliński, Cezary and Szynkiewicz, Wojciech and Winiarski, Tomasz and Czajewski, W. and Staniak, Maciej},
  booktitle = {IX Krajowa Konferencja Robotyki -- Postępy Robotyki: Systemy i~współdziałanie robotów},
  title = {Układanie kostki Rubika jako zadanie testujące zdolności robota usługowego},
  year = {2006},
  editor = {Tchoń, K.},
  volume = {2},
  pages = {237--246},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2006/KostkaRubika1-kkr9.pdf},
  conference = {kkr9},
  projects = {GrantMNiI4T11A00325},
  lang = {pl},
  location = {Piechowice, 13--16 September 2006},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Rubik's Cube Puzzle as a~Benchmark Task for Service Robots - Zielinski}
}
```
Artykuł opisuje realizację zadania układania kostki Rubika, jako przykładu złożonej manipulacji wykonywanej przez dwuręcznego robota usługowego. Omówiono poszczególne fazy realizacji zadania, od etapu rozpoznania stanu i lokalizacji kostki z wykorzystaniem wizji poczynając, przez poszukiwania rozwiązania kostki z zastosowaniem algorytmów sztucznej inteligencji, na realizacji właściwego zadania manipulacji z wykorzystaniem serwomechanizmu wizyjnego i sterowania pozycyjno-siłowego kończąc. Zadanie manipulacji jest planowane w postaci ciągu prostych czynności (podstawowych umiejętności manipulacyjnych) bazujących na danych z różnych czujników. Przedstawiono także implementację układu sterowania z wykorzystaniem struktury programowej ramowej MRROC++.

C. Zieliński, K. Malinowski, P. Tatjewski, W. Ogryczak, A. Pacut, E. Toczyłowski, K. Sacha, and W. Kasprzak

Obszary badań Instytutu Automatyki i Informatyki Stosowanej

Przegląd Telekomunikacyjny + Wiadomości Telekomunikacyjne, no. 10, pp. 289–292, Oct. 2006

[ BIB ]

@article{Zielinski2006b,
  author = {Zieliński, Cezary and Malinowski, K. and Tatjewski, P. and Ogryczak, W. and Pacut, A. and Toczyłowski, E. and Sacha, K. and Kasprzak, W.},
  title = {Obszary badań Instytutu Automatyki i~Informatyki Stosowanej},
  journal = {Przegląd Telekomunikacyjny + Wiadomości Telekomunikacyjne},
  year = {2006},
  pages = {289--292},
  number = {10},
  month = oct,
  note = {Zielinski},
  lang = {en},
  publisher = {Wydawnictwo SIGMA NOT}
}

W. Kasprzak, C. Zieliński, A. Janicki, and M. Staniak

Zastosowanie MRROC++ do budowy układu sterowania robotem zdolnym do werbalnej komunikacji z człowiekiem

in IX Krajowa Konferencja Robotyki – Postępy Robotyki: Sterowanie, percepcja i komunikacja, Warszawa, 2006, vol. 1, pp. 297–306

[ BIB ]

@inproceedings{KasprzakWarsaw2006,
  author = {Kasprzak, W. and Zieliński, Cezary and Janicki, A. and Staniak, M.},
  title = {Zastosowanie MRROC++ do budowy układu sterowania robotem zdolnym do werbalnej komunikacji z~człowiekiem},
  booktitle = {IX Krajowa Konferencja Robotyki -- Postępy Robotyki: Sterowanie, percepcja i komunikacja},
  year = {2006},
  editor = {Tchoń, K.},
  volume = {1},
  pages = {297--306},
  address = {Warszawa},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  note = {Application of MRROC++ Framework to Robot Control with Verbal Human-Robot Communication (in Polish) - Zielinski},
  lang = {en},
  location = {Piechowice, 13--16 September 2006}
}

M. Pawluk and C. Zieliński

Niesfalsyfikowane sterowanie adaptacyjne ramieniem robota

in IX Krajowa Konferencja Robotyki – Postępy Robotyki: Sterowanie, percepcja i komunikacja, Warszawa, 2006, vol. 1, pp. 131–140

[ BIB ]

@inproceedings{PawlukWarszawa2006,
  author = {Pawluk, M. and Zieliński, Cezary},
  title = {Niesfalsyfikowane sterowanie adaptacyjne ramieniem robota},
  booktitle = {IX Krajowa Konferencja Robotyki -- Postępy Robotyki: Sterowanie, percepcja i~komunikacja},
  year = {2006},
  editor = {Tchoń, K.},
  volume = {1},
  pages = {131--140},
  address = {Warszawa},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  lang = {pl},
  location = {Piechowice, 13--16 Września 2006},
  note = {Zielinski}
}

T. Winiarski and C. Zieliński

Sterowania siłowe w systemach dwuramiennych

in IX Krajowa Konferencja Robotyki – Postępy Robotyki: Systemy i współdziałanie robotów, 2006, vol. 2, pp. 267–276

[ BIB ]

@inproceedings{TWCZ-KKR9-2006,
  author = {Winiarski, Tomasz and Zieliński, Cezary},
  title = {Sterowania siłowe w~systemach dwuramiennych},
  booktitle = {IX Krajowa Konferencja Robotyki -- Postępy Robotyki: Systemy i~współdziałanie robotów},
  year = {2006},
  editor = {Tchoń, K.},
  volume = {2},
  pages = {267--276},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  lang = {pl},
  location = {Piechowice, 13--16 Września 2006},
  note = {Zielinski}
}

C. Zieliński, J. Lange, T. Zielińska, and K. Mianowski

Projekt i symulacja ruchu pojazdu poruszającego się na sześciu półkołach

in IX Krajowa Konferencja Robotyki – Postępy Robotyki: Sterowanie, percepcja i komunikacja, Warszawa, 2006, vol. 1, pp. 255–264

[ BIB ]

@inproceedings{ZielinskiWarszawa2006,
  author = {Zieliński, Cezary and Lange, J. and Zielińska, T. and Mianowski, K.},
  title = {Projekt i~symulacja ruchu pojazdu poruszającego się na sześciu półkołach},
  booktitle = {IX Krajowa Konferencja Robotyki -- Postępy Robotyki: Sterowanie, percepcja i~komunikacja},
  year = {2006},
  editor = {Tchoń, K.},
  volume = {1},
  pages = {255--264},
  address = {Warszawa},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  lang = {pl},
  location = {Piechowice, 13--16 Września 2006},
  note = {Zielinski}
}

C. Zieliński, M. H. Ang, and S. Y. Lim

Matrix-based Supervisory Controller of Transition-Function Specified Robot Controllers

in CISM Courses and Lectures - 16th CISM–IFToMM Symposium on Robot Design, Dynamics and Control, RoManSy’06, Wien, New York, 2006, no. 487, pp. 229–236

[ BIB ]

@inproceedings{Zielinski2006,
  author = {Zieliński, Cezary and Ang, M.H. and Lim, S.Y.},
  booktitle = {CISM Courses and Lectures - 16th CISM--IFToMM Symposium on Robot Design, Dynamics and Control, RoManSy'06},
  title = {{Matrix-based Supervisory Controller of Transition-Function Specified Robot Controllers}},
  year = {2006},
  address = {Wien, New York},
  editor = {T.~Zielińska and C.~Zieliński},
  month = jun,
  note = {Zielinski},
  number = {487},
  pages = {229--236},
  publisher = {Springer},
  lang = {en}
}

C. Zieliński

Transition-Function Based Approach to Structuring Robot Control Software

in Robot Motion and Control, vol. 335,

K. Kozłowski, Ed. Springer-Verlag, 2006, pp. 265–286

[ BIB ]

@incollection{Zie:06Springer,
  author = {Zieliński, Cezary},
  title = {Transition-Function Based Approach to Structuring Robot Control Software},
  booktitle = {Robot Motion and Control},
  publisher = {Springer-Verlag},
  year = {2006},
  editor = {Kozłowski, Krzysztof},
  volume = {335},
  series = {Lecture Notes in Control and Information Sciences},
  pages = {265--286},
  lang = {en},
  note = {Zielinski}
}

2005

M. Majchrowski, P. Trojanek, and W. Szynkiewicz

Sterowanie robotem mobilnym w zastosowaniu do ligi RoboCup

in VIII Krajowa Konferencja Robotyki – Przemysłowe i medyczne systemu robotyczne, 2005, vol. 2, pp. 233–242

[ BIB | URL ]

@inproceedings{MajchrowskiWarszawa:06-twiki,
  author = {Majchrowski, M. and Trojanek, Piotr and Szynkiewicz, Wojciech},
  booktitle = {VIII Krajowa Konferencja Robotyki -- Przemysłowe i~medyczne systemu robotyczne},
  title = {Sterowanie robotem mobilnym w~zastosowaniu do ligi RoboCup},
  year = {2005},
  editor = {Tchoń, K.},
  volume = {2},
  pages = {233--242},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2005/article.pdf},
  lang = {pl},
  location = {Polanica Zdrój, 23--25 June 2004},
  twiki = {article}
}

T. Winiarski and C. Zieliński

Implementation of Position–Force Control in MRROC++

in Proceedings of the 5th International Workshop on Robot Motion and Control, RoMoCo’05, Dymaczewo, Poland,

2005, pp. 259–264

[ BIB | abstract | URL ]

@incollection{Win:05RoMoCo-twiki,
  author = {Winiarski, Tomasz and Zieliński, Cezary},
  title = {Implementation of Position--Force Control in {MRROC++}},
  booktitle = {Proceedings of the 5th International Workshop on Robot Motion and Control, RoMoCo'05, Dymaczewo, Poland},
  year = {2005},
  pages = {259--264},
  month = jun,
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2005/mrrocpp_force_romoco05.pdf},
  conference = {romoco05},
  projects = {GrantMNiI4T11A00325},
  lang = {en},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Zielinski}
}

T. Winiarski and C. Zieliński

Stanowisko do badania algorytmów sterowania pozycyjno–siłowego robotów

in Postępy Robotyki: Sterowanie robotów z percepcją otoczenia, 2005, vol. 1, pp. 85–94

[ BIB | URL ]

@inproceedings{WiniarskiZielinski:StanowiskoBadawcze-KKR2004-twiki,
  author = {Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {Postępy Robotyki: Sterowanie robotów z~percepcją otoczenia},
  title = {{Stanowisko do badania algorytmów sterowania pozycyjno–siłowego robotów}},
  year = {2005},
  month = jun,
  note = {Position-force controller experimental station - Zielinski},
  pages = {85--94},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  volume = {1},
  conference = {kkr8},
  projects = {GrantMNiI4T11A00325},
  lang = {en},
  location = {Polanica Zdrój},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2004/sila-kkr2004.pdf}
}

C. Zieliński, W. Szynkiewicz, and T. Winiarski

Applications of MRROC++ Robot Programming Framework

in Proceedings of the 5th International Workshop on Robot Motion and Control, RoMoCo’05, Dymaczewo, Poland, 2005, pp. 251–257

[ BIB | abstract | URL ]

@inproceedings{Zie:05RoMoCo-twiki,
  author = {Zieliński, Cezary and Szynkiewicz, Wojciech and Winiarski, Tomasz},
  booktitle = {Proceedings of the 5th International Workshop on Robot Motion and Control, RoMoCo'05, Dymaczewo, Poland},
  title = {Applications of {MRROC++} Robot Programming Framework},
  year = {2005},
  editor = {Kozłowski, K.},
  pages = {251--257},
  month = jun,
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2005/mrrocpp_applications_romoco2005.pdf},
  projects = {GrantMNiI4T11A00325},
  howpublished = {http://www.ia.pw.edu.pl/~zielinsk/romoco05.pdf},
  lang = {en},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Zielinski}
}

C. Zieliński

Systematic Approach to the Design of Robot Programming Frameworks

in Proceedings of the 11th IEEE International Conference on Methods and Models in Automation and Robotics (on CD), 2005, pp. 639–646

[ BIB ]

@inproceedings{Zielinski2005,
  author = {Zieliński, Cezary},
  title = {Systematic Approach to the Design of Robot Programming Frameworks},
  booktitle = {Proceedings of the 11th IEEE International Conference on Methods and Models in Automation and Robotics (on CD)},
  year = {2005},
  pages = {639--646},
  month = {29 August -- 1 September},
  publisher = {Technical University of Szczecin},
  howpublished = {http://www.ia.pw.edu.pl/~zielinsk/MMAR05Zielinski.pdf},
  isbn = {83-60140-85-5},
  lang = {en},
  location = {Miedzyzdroje, Poland},
  note = {Zielinski}
}

C. Zieliński

Formal approach to the design of robot programming frameworks: the behavioural control case

Bulletin of the Polish Academy of Sciences – Technical Sciences, vol. 53, no. 1, pp. 57–67, Mar. 2005

[ BIB ]

@article{Zie:05BulPAN,
  author = {Zieliński, Cezary},
  title = {Formal approach to the design of robot programming frameworks: the behavioural control case},
  journal = {Bulletin of the Polish Academy of Sciences -- Technical Sciences},
  year = {2005},
  volume = {53},
  pages = {57--67},
  number = {1},
  month = mar,
  howpublished = {http://www.ia.pw.edu.pl/~zielinsk/BiuletynPAN.pdf},
  lang = {en},
  note = {Zielinski}
}

C. Zieliński

Formalizacja opisu struktur ramowych do programowania systemów wielorobotowych

in VIII Krajowa Konferencja Robotyki – Postępy Robotyki: Przemysłowe i medyczne systemy robotyczne, 2005, vol. 2, pp. 53–66

[ BIB ]

@inproceedings{Zie:04KKR-pl,
  author = {Zieliński, Cezary},
  booktitle = {VIII Krajowa Konferencja Robotyki -- Postępy Robotyki: Przemysłowe i~medyczne systemy robotyczne},
  title = {{Formalizacja opisu struktur ramowych do programowania systemów wielorobotowych}},
  year = {2005},
  note = {Zielinski},
  pages = {53--66},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  volume = {2},
  lang = {en},
  location = {Polanica Zdrój, 23--25 Czerwca},
  place = {Warszawa}
}

2004

W. Czajewski and M. Staniak

Visual Identification of the Rubik’s Cube in Human Environment

Przegląd Elektrotechniczny, no. 4, pp. 311–314, 2004

[ BIB ]

@article{czajsta04pe-twiki,
  author = {Czajewski, W. and Staniak, Maciej},
  journal = {Przegląd Elektrotechniczny},
  title = {Visual Identification of the Rubik's Cube in Human Environment},
  year = {2004},
  number = {4},
  pages = {311-314},
  projects = {GrantMNiI4T11A00325},
  lang = {en},
  twiki = {article}
}

W. Czajewski, M. Staniak, and C. Zieliński

Pewne aspekty wykorzystania informacji wizyjnej w robotach usługowych

Postępy Robotyki: Sterowanie robotów z percepcją otoczenia, vol. 1, pp. 53–64, June 2004

[ BIB ]

@article{czajstaziel04kkr-twiki,
  author = {Czajewski, W. and Staniak, Maciej and Zieliński, Cezary},
  title = {Pewne aspekty wykorzystania informacji wizyjnej w robotach usługowych},
  year = {2004},
  volume = {1},
  pages = {53--64},
  month = jun,
  booktitle = {Postępy Robotyki: Sterowanie robotów z~percepcją otoczenia},
  projects = {GrantMNiI4T11A00325},
  lang = {pl},
  location = {Polanica Zdrój},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  twiki = {article},
  note = {Some aspects of using vision information for service robots (in Polish) - Zielinski}
}

C. Zieliński

Specification of behavioural embodied agents

in Fourth International Workshop on Robot Motion and Control (RoMoCo’04), 2004, pp. 79–84

[ BIB ]

@inproceedings{Zie:04a,
  author = {Zieliński, Cezary},
  title = {Specification of behavioural embodied agents},
  booktitle = {Fourth International Workshop on Robot Motion and Control (RoMoCo'04)},
  year = {2004},
  editor = {Kozłowski, K.},
  pages = {79--84},
  month = jun,
  lang = {en},
  location = {Puszczykowo, Poland},
  note = {Zielinski}
}

T. Zielińska and C. Zieliński

Design of machines: historical facts related to the development of walking machines

in Design of machines: historical facts related to the development of walking machines, 2004, vol. 2, pp. 924–928

[ BIB ]

@inproceedings{Zielinski:2004:congress,
  author = {Zielińska, Teresa and Zieliński, Cezary},
  title = {Design of machines: historical facts related to the development of walking machines},
  booktitle = {Design of machines: historical facts related to the development of walking machines},
  year = {2004},
  editor = {Huang, Tian},
  pages = {924--928},
  publisher = {China Machine Press},
  volume = {2},
  month = {1-4 April},
  lang = {en},
  location = {Tianjin, China},
  note = {Zielinski}
}

2003

C. Zieliński

A Unified Formal Description of Behavioural and Deliberative Robotic Multi-Agent Systems

in 7th International IFAC Symposium on Robot Control (SYROCO), 2003, vol. 7, pp. 479–486

[ BIB ]

@inproceedings{Zie:03b,
  author = {Zieliński, Cezary},
  title = {A~Unified Formal Description of Behavioural and Deliberative Robotic Multi-Agent Systems},
  booktitle = {7th International IFAC Symposium on Robot Control (SYROCO)},
  year = {2003},
  volume = {7},
  pages = {479--486},
  lang = {en},
  note = {Zielinski}
}

A. Woźniak, W. Szynkiewicz, and C. Zieliński

Robot controller with a self-measurement capability enabling the identification of friction

Archives of Control Sciences, vol. 13, no. 4, pp. 391–414, 2003

[ BIB ]

@article{WozniakSzynkiewiczZielinski:RobotController2003,
  author = {Woźniak, A. and Szynkiewicz, Wojciech and Zieliński, Cezary},
  journal = {Archives of Control Sciences},
  title = {{Robot controller with a~self-measurement capability enabling the identification of friction}},
  year = {2003},
  note = {Zielinski},
  number = {4},
  pages = {391--414},
  volume = {13},
  lang = {en}
}

C. Zieliński

Podstawy projektowania układów cyfrowych

Wydawnictwo Naukowe PWN, 2003

[ BIB | URL ]

@book{ZielPodstProjUC,
  title = {Podstawy projektowania układów cyfrowych},
  publisher = {Wydawnictwo Naukowe PWN},
  year = {2003},
  author = {Zieliński, Cezary},
  lang = {pl},
  place = {Warszawa},
  url = {http://robotyka.ia.pw.edu.pl/papers/zielinski_errata.pdf},
  note = {Zielinski}
}

C. Zieliński, K. Mianowski, K. Nazarczuk, and W. Szynkiewicz

A Prototype Robot for Polishing and Milling Large Objects

Industrial Robot, vol. 30, no. 1, pp. 67–76, Jan. 2003

[ BIB ]

@article{Zie03a,
  author = {Zieliński, Cezary and Mianowski, K. and Nazarczuk, K. and Szynkiewicz, W.},
  journal = {Industrial Robot},
  title = {{A~Prototype Robot for Polishing and Milling Large Objects}},
  year = {2003},
  month = jan,
  note = {Zielinski},
  number = {1},
  pages = {67--76},
  volume = {30},
  lang = {en}
}

2002

C. Zieliński

Reaction to Errors in Robot Systems

in Third International Workshop on Robot Motion and Control, RoMoCo’02, Bukowy Dworek, Poland, 2002, pp. 201–208

[ BIB ]

@inproceedings{Zie:02a,
  author = {Zieliński, Cezary},
  title = {Reaction to Errors in Robot Systems},
  booktitle = {Third International Workshop on Robot Motion and Control, RoMoCo'02, Bukowy Dworek, Poland},
  year = {2002},
  pages = {201--208},
  month = nov,
  note = {Zielinski},
  lang = {en}
}

C. Zieliński

Motion generators in MRROC++ based robot controller

in 14th CISM–IFToMM Symposium on Robotics, Ro.Man.Sy’02, Udine, Italy, CISM Courses and Lectures no.438,

G. Bianchi, J.-P. Guinot, and C. Rzymkowski, Eds. Wien, New York: Springer, 2002, pp. 299–306

[ BIB | URL ]

@incollection{Zie:03RoManSy,
  author = {Zieliński, Cezary},
  title = {Motion generators in {MRROC++} based robot controller},
  booktitle = {14th CISM--IFToMM Symposium on Robotics, Ro.Man.Sy'02, Udine, Italy, CISM Courses and Lectures no.438},
  publisher = {Springer},
  year = {2002},
  editor = {Bianchi, G. and Guinot, J-P. and Rzymkowski, C.},
  pages = {299--306},
  address = {Wien, New York},
  month = jul,
  lang = {en},
  url = {http://www.ia.pw.edu.pl/~zielinsk/romansy2.pdf},
  note = {Zielinski}
}

C. Zieliński and G. Seet

Integrating Sensors with Robots

in Robotics Research Centre (RRC) Journal, NTU Singapore, 2002, pp. 15–18

[ BIB ]

@inproceedings{Zielinski:2002:RRC,
  author = {Zieliński, Cezary and Seet, G.},
  title = {Integrating Sensors with Robots},
  booktitle = {Robotics Research Centre (RRC) Journal, NTU Singapore},
  year = {2002},
  pages = {15--18},
  month = feb,
  lang = {en},
  note = {Zielinski}
}

C. Zieliński

Narzędzie do szybkiej weryfikacji koncepcji układu sterowania urządzenia mechatronicznego.

in Pomiary – Automatyka – Kontrola PAK. nr 1, 2002, pp. 22–24

[ BIB ]

@inproceedings{Zielinski:2002:PAK,
  author = {Zieliński, Cezary},
  booktitle = {Pomiary – Automatyka – Kontrola PAK. nr 1,},
  title = {Narzędzie do szybkiej weryfikacji koncepcji układu sterowania urządzenia mechatronicznego.},
  year = {2002},
  month = jan,
  note = {Zielinski},
  pages = {22--24}
}

2001

M. Staniak and T. Winiarski
Mobile Robots Project
in KKAEiOG, 2001
[ BIB | abstract | URL ]
```
@inproceedings{Staniak:01KKAEiOG-twiki,
  author = {Staniak, Maciej and Winiarski, Tomasz},
  booktitle = {KKAEiOG},
  title = {Mobile Robots Project},
  year = {2001},
  month = may,
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2001/Mobile_robots_project2001.pdf},
  conference = {kkaeiog01},
  lang = {en},
  location = {Jastrzębia Góra},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article}
}
```
Mobile robots are useful in performing tasks in unpleasant environment for humans e.g. foreign planet surface, contaminated nuclear plant’s interior etc. Navigation in such environments is key issue in proper execution of the robot’s mission. It is possible to make computer simulation of any navigation algorithm, but it is really hard to include all physical constrains introduced by physical properties the robot. An alternative solution is to build real models of robots, but it could be quite expensive. Except for it, the robot should be designed properly before constructing it and every further improvement can lead into huge changes in construction, which is connected with further cost increasing. This paper discusses compromise solution to this problem. It means building robots which are quite cheap and easy in modifications.

C. Zieliński

A Quasi-Formal Approach to Structuring Multi-Robot System Controllers

in Second International Workshop on Robot Motion and Control, RoMoCo’01, 2001, pp. 121–128

[ BIB ]

@inproceedings{Zie:01b0,
  author = {Zieliński, Cezary},
  booktitle = {{Second International Workshop on Robot Motion and Control, RoMoCo'01}},
  title = {{A~Quasi-Formal Approach to Structuring Multi-Robot System Controllers}},
  year = {2001},
  month = {18--20 October},
  note = {Zielinski},
  pages = {121--128},
  lang = {en},
  location = {Bukowy Dworek, Poland}
}

K. Antczak and C. Zieliński

Wykorzystanie krzywych B-sklejanych do generacji trajektorii dla robota frezującego

in VII Krajowa Konferencja Robotyki – Prace Instytutu Cybernetyki Technicznej Politechniki Wrocławskiej, 2001, pp. 251–258

[ BIB ]

@inproceedings{Zielinski:2001:ladek:zdroj:a,
  author = {Antczak, K. and Zieliński, Cezary},
  title = {Wykorzystanie krzywych B-sklejanych do generacji trajektorii dla robota frezującego},
  booktitle = {VII Krajowa Konferencja Robotyki -- Prace Instytutu Cybernetyki Technicznej Politechniki Wrocławskiej},
  year = {2001},
  pages = {251--258},
  month = {5--8 Września},
  lang = {en},
  publisher = {Wydawnictwo Politechniki Wrocławskiej},
  location = {Lądek Zdrój, Poland},
  note = {Zielinski}
}

C. Zieliński

Metody realizacji różnorodnych sposobów programowania systemów wielorobotowych

in VII Krajowa Konferencja Robotyki – Prace Instytutu Cybernetyki Technicznej Politechniki Wrocławskiej, 2001, pp. 311–319

[ BIB ]

@inproceedings{Zielinski:2001:ladek:zdroj:b,
  author = {Zieliński, Cezary},
  title = {Metody realizacji różnorodnych sposobów programowania systemów wielorobotowych},
  booktitle = {VII Krajowa Konferencja Robotyki -- Prace Instytutu Cybernetyki Technicznej Politechniki Wrocławskiej},
  year = {2001},
  pages = {311--319},
  month = {18--20 October},
  lang = {en},
  publisher = {Wydawnictwo Politechniki Wrocławskiej},
  location = {Lądek Zdrój, Poland},
  note = {Zielinski}
}

C. Zieliński, W. Szynkiewicz, K. Mianowski, and K. Nazarczuk

Mechatronic Design of Open-Structure Multi-Robot Controllers

Mechatronics, vol. 11, no. 8, pp. 987–1000, Nov. 2001

[ BIB ]

@article{Zie:01b:Mechatronics,
  author = {Zieliński, Cezary and Szynkiewicz, W. and Mianowski, K. and Nazarczuk, K.},
  title = {Mechatronic Design of Open-Structure Multi-Robot Controllers},
  journal = {Mechatronics},
  year = {2001},
  volume = {11},
  pages = {987--1000},
  number = {8},
  month = nov,
  lang = {en},
  note = {Zielinski}
}

C. Zieliński

By How Much Should a General Purpose Programming Language be Extended to Become a Multi-Robot System Programming Language?

Advanced Robotics, vol. 15, no. 1, pp. 71–96, 2001

[ BIB ]

@article{Zie:01a,
  author = {Zieliński, Cezary},
  journal = {Advanced Robotics},
  title = {{By How Much Should a~General Purpose Programming Language be Extended to Become a~Multi-Robot System Programming Language?}},
  year = {2001},
  note = {Zielinski},
  number = {1},
  pages = {71--96},
  volume = {15},
  howpublished = {http://www.ia.pw.edu.pl/~zielinsk/advrob.pdf},
  lang = {en}
}

C. Zieliński

Hasła: Automat, Automat cyfrowy, Automat mikroprogramowany, Automat komórkowy

in Nowa Encyklopedia Powszechna PWN, vol. 1,

PWN, 2001, pp. 529–531

[ BIB ]

@incollection{Ziel90encyklopedia1,
  author = {Zieliński, Cezary},
  booktitle = {Nowa Encyklopedia Powszechna PWN},
  publisher = {PWN},
  title = {{Hasła: Automat, Automat cyfrowy, Automat mikroprogramowany, Automat komórkowy}},
  year = {2001},
  note = {Zielinski},
  pages = {529--531},
  volume = {1},
  lang = {pl}
}

2000

C. Zieliński

Implementation of Control Systems for Autonomous Robots

in 6th Int. Conf. on Control, Automation, Robotics and Vision, ICARCV’2000, 5–8 December 2000, Singapore (on CD-ROM), 2000

[ BIB ]

@conference{ZielICARV:2000,
  author = {Zieliński, Cezary},
  title = {Implementation of Control Systems for Autonomous Robots},
  booktitle = {6th Int. Conf. on Control, Automation, Robotics and Vision, ICARCV'2000, 5--8 December 2000, Singapore (on CD-ROM)},
  year = {2000},
  note = {Zielinski}
}

C. Zieliński

Programming and Control of Multi-Robot Systems

in 6th International Conference on Control, Automation, Robotics and Vision, ICARCV’2000, Singapore, 2000, pp. on CD-ROM

[ BIB ]

@inproceedings{Zie:00a,
  author = {Zieliński, Cezary},
  title = {Programming and Control of Multi-Robot Systems},
  booktitle = {6th International Conference on Control, Automation, Robotics and Vision, ICARCV'2000, Singapore},
  year = {2000},
  pages = {on CD-ROM},
  month = dec,
  lang = {en},
  note = {Zielinski}
}

C. Zieliński

Prototyping Tool for Validating Complex Robot Systems

in 6th International Conference on Control, Automation, Robotics and Vision, ICARCV’2000, Singapore, 2000, pp. on CD-ROM

[ BIB ]

@inproceedings{Zie:00:seet:a,
  author = {Zieliński, Cezary},
  title = {Prototyping Tool for Validating Complex Robot Systems},
  booktitle = {6th International Conference on Control, Automation, Robotics and Vision, ICARCV'2000, Singapore},
  year = {2000},
  pages = {on CD-ROM},
  month = dec,
  lang = {en},
  note = {Zielinski}
}

C. Zieliński and G. Seet

Industry Standard Networks as a Prototyping Tool Validating Mechatronics Systems

in Robotics Research Centre (RRC) Journal, NTU Singapore, Jan- uary 2000., 2000, pp. 39–42

[ BIB ]

@inproceedings{Zie:00:seet:b,
  author = {Zieliński, C. and Seet, G.},
  title = {Industry Standard Networks as a Prototyping Tool Validating Mechatronics Systems},
  booktitle = {Robotics Research Centre (RRC) Journal, NTU Singapore, Jan- uary 2000.},
  year = {2000},
  pages = {39 -- 42},
  lang = {en},
  note = {Zielinski}
}

K. Mianowski, K. Nazarczuk, M. Wojtyra, W. Szynkiewicz, Zieliński, and A. Woźniak

Application of the RNT Robot to Milling and Polishing

in Proceedings of the CISM IFToMM Symposium on Theory and Practice of Robots and Manipulators Ro.Man.Sy 13, Zakopane, Poland, 3–6 July,

2000, pp. 421–429

[ BIB ]

@incollection{Mianowski:2000,
  author = {Mianowski, K. and Nazarczuk, K. and Wojtyra, M. and Szynkiewicz, W. and Zieliński and Woźniak, A.},
  title = {Application of the RNT Robot to Milling and Polishing},
  booktitle = {Proceedings of the CISM IFToMM Symposium on Theory and Practice of Robots and Manipulators Ro.Man.Sy~13, Zakopane, Poland, 3--6 July},
  year = {2000},
  pages = {421--429},
  lang = {en},
  note = {Zielinski}
}

1999

C. Zieliński and W. Szynkiewicz

Sterownik robota POLYCRANK

Pomiary – Automatyka – Kontrola PAK, no. 8, pp. 10–16, 1999

[ BIB ]

@article{Ziel99Polycrank,
  author = {Zieliński, C. and Szynkiewicz, W.},
  journal = {Pomiary -- Automatyka -- Kontrola PAK},
  title = {{Sterownik robota POLYCRANK}},
  year = {1999},
  month = {sierpień},
  note = {Zielinski},
  number = {8},
  pages = {10--16},
  lang = {pl}
}

C. Zieliński

The MRROC++ System

in First Workshop on Robot Motion and Control (RoMoCo’99), Kiekrz, Polska, 1999, pp. 147–152

[ BIB ]

@inproceedings{Zielinski:99,
  author = {Zieliński, Cezary},
  title = {The {MRROC++} System},
  booktitle = {First Workshop on Robot Motion and Control (RoMoCo'99)},
  year = {1999},
  pages = {147--152},
  address = {Kiekrz, Polska},
  month = jul,
  lang = {en},
  note = {Zielinski}
}

C. Zieliński, W. Szynkiewicz, and A. Rydzewski

Metoda konstruowania sterowników systemów wielorobotowych

Pomiary – Automatyka – Robotyka PAR, vol. nr 12 (22), pp. 8–14, 1999

[ BIB ]

@article{Zielinski:1998:a,
  author = {Zieliński, C. and Szynkiewicz, W. and Rydzewski, A.},
  title = {Metoda konstruowania sterowników systemów wielorobotowych},
  journal = {Pomiary -- Automatyka -- Robotyka PAR},
  year = {1999},
  volume = {nr 12 (22)},
  pages = {8-14},
  twiki = {journal},
  note = {Zielinski}
}

1998

C. Zieliński

Struktura i programowanie sterowników systemów wielorobotowych

in VI Krajowa Konferencja Robotyki – Prace Instytutu Cybernetyki Technicznej Politechniki Wrocławskiej, 1998, pp. 225–232

[ BIB ]

@inproceedings{Zielinski:1998:kkr:struktura,
  author = {Zieliński, Cezary},
  title = {Struktura i programowanie sterowników systemów wielorobotowych},
  booktitle = {VI Krajowa Konferencja Robotyki -- Prace Instytutu Cybernetyki Technicznej Politechniki Wrocławskiej},
  year = {1998},
  pages = {225--232},
  month = {8--11 September},
  publisher = {Wydawnictwo Politechniki Wrocławskiej},
  note = {Zielinski},
  lang = {en},
  location = {Świeradów Zdrój, Poland}
}

C. Zieliński, A. Rydzewski, and W. Szynkiewicz

Multi-Robot System Controllers

in Proc. of the 5th International Symposium on Methods and Models in Automation and Robotics MMAR’98, Międzyzdroje, Poland, 1998, vol. 3, pp. 795–800

[ BIB ]

@inproceedings{Zie:98,
  author = {Zieliński, C. and Rydzewski, A. and Szynkiewicz, W.},
  title = {Multi-Robot System Controllers},
  booktitle = {Proc. of the 5th International Symposium on Methods and Models in Automation and Robotics MMAR'98, Międzyzdroje, Poland},
  year = {1998},
  volume = {3},
  pages = {795--800},
  month = aug,
  lang = {en},
  note = {Zielinski}
}

1997

C. Zieliński, A. Rydzewski, W. Szynkiewicz, and A. Woźniak

Układ sterowania robotem o strukturze szeregowo–równoległej

in Konstrukcja, sterowanie i programowanie złożonych systemów robotycznych,

C. Zieliński and T. Zielińska, Eds. Oficyna Wydawnicza Politechniki Warszawskiej, 1997, pp. 55–76

[ BIB ]

@incollection{Zielinski:MRROC13,
  author = {Zieliński, C. and Rydzewski, A. and Szynkiewicz, W. and Woźniak, A.},
  title = {Układ sterowania robotem o~strukturze szeregowo--równoległej},
  booktitle = {Konstrukcja, sterowanie i~programowanie złożonych systemów robotycznych},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  year = {1997},
  editor = {Zieliński, C. and Zielińska, T.},
  pages = {55--76},
  lang = {pl},
  place = {Warszawa},
  note = {Zielinski}
}

C. Zieliński and W. Szynkiewicz

Systemy MRROC i MRROC++; Część II: Realizacja

in Konstrukcja, sterowanie i programowanie złożonych systemów robotycznych,

C. Zieliński and T. Zielińska, Eds. Oficyna Wydawnicza Politechniki Warszawskiej, 1997, pp. 41–54

[ BIB ]

@incollection{Zielinski:MRROC12,
  author = {Zieliński, C. and Szynkiewicz, W.},
  booktitle = {Konstrukcja, sterowanie i~programowanie złożonych systemów robotycznych},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  title = {{Systemy MRROC i~MRROC++; Część II: Realizacja}},
  year = {1997},
  editor = {Zieliński, C. and Zielińska, T.},
  note = {Zielinski},
  pages = {41--54},
  lang = {pl},
  place = {Warszawa}
}

C. Zieliński and W. Szynkiewicz

Systemy MRROC i MRROC++; Część I: Struktura

in Konstrukcja, sterowanie i programowanie złożonych systemów robotycznych,

C. Zieliński and T. Zielińska, Eds. Oficyna Wydawnicza Politechniki Warszawskiej, 1997, pp. 25–40

[ BIB ]

@incollection{Zielinski:MRROC11,
  author = {Zieliński, C. and Szynkiewicz, W.},
  booktitle = {Konstrukcja, sterowanie i~programowanie złożonych systemów robotycznych},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  title = {{Systemy MRROC i~MRROC++; Część I: Struktura}},
  year = {1997},
  editor = {Zieliński, C. and Zielińska, T.},
  note = {Zielinski},
  pages = {25--40},
  lang = {pl},
  place = {Warszawa}
}

K. Tchoń, R. Muszyński, and C. Zieliński

Kinematic Singularities of the IRp–6 manipulator mounted on a track.

Proceedings of the 4rd International Symposium on Methods and Models in Automation and Robotics MMAR’97, pp. 913–920, 26 AD

[ BIB ]

@article{Tchon:1997:React,
  author = {Tchoń, K. and Muszyński, R and Zieliński, C.},
  title = {Kinematic Singularities of the IRp–6 manipulator mounted on a track.},
  journal = {Proceedings of the 4rd International Symposium on Methods and Models in Automation and Robotics MMAR'97},
  year = {1997},
  pages = {913--920},
  month = aug,
  date = {26--29},
  lang = {en},
  place = {Międzyzdroje, Poland},
  note = {Zielinski}
}

C. Zieliński

Object–Oriented Programming of Multi–Robot Systems.

Proceedings of the 4rd International Symposium on Methods and Models in Automation and Robotics MMAR’97, pp. 1121–1126, 26 AD

[ BIB ]

@article{Zielinski:1997:Object,
  author = {Zieliński, Cezary},
  title = {Object–Oriented Programming of Multi–Robot Systems.},
  journal = {Proceedings of the 4rd International Symposium on Methods and Models in Automation and Robotics MMAR'97},
  year = {1997},
  pages = {1121--1126},
  month = aug,
  date = {26--29},
  lang = {en},
  place = {Międzyzdroje, Poland},
  note = {Zielinski}
}

C. Zieliński

Object–Oriented Programming of Multi–Robot Systems Utilising Sensory Information.

3rd ECPD International Conference on Advanced Robotics, Intelligent Automation and Active Systems, pp. 176–181, 15 AD

[ BIB ]

@article{Zielinski:1997:ECPD,
  author = {Zieliński, Cezary},
  title = {Object–Oriented Programming of Multi–Robot Systems Utilising Sensory Information.},
  journal = {3rd ECPD International Conference on Advanced Robotics, Intelligent Automation and Active Systems},
  year = {1997},
  pages = {176--181},
  month = sep,
  date = {15--17},
  lang = {en},
  place = {Bremen, Germany},
  note = {Zielinski}
}

W. Szynkiewicz, C. Zieliński, K. Kierzenkowski, and T. Zielińska

Środowisko programowe do tworzenia sterowników wielorobotowych dla złożonych zastosowań

Automation’97, vol. 1, pp. 127–134, 5 AD

[ BIB ]

@article{Szynkiewicz:MRROC8,
  author = {Szynkiewicz, W. and Zieliński, C. and Kierzenkowski, K. and Zielińska, T.},
  title = {Środowisko programowe do tworzenia sterowników wielorobotowych dla złożonych zastosowań},
  journal = {Automation'97},
  year = {1997},
  volume = {1},
  pages = {127--134},
  month = mar,
  date = {5--7},
  lang = {pl},
  place = {Warszawa, Polska},
  note = {Zielinski}
}

C. Zieliński

Object-Oriented Robot Programming

Robotica, vol. 15, pp. 41–48, 1997

[ BIB ]

@article{Zie:97a,
  author = {Zieliński, Cezary},
  title = {Object-Oriented Robot Programming},
  journal = {Robotica},
  year = {1997},
  volume = {15},
  pages = {41--48},
  lang = {en},
  note = {Zielinski}
}

C. Zieliński

Object–Oriented Approach to Programming Multi–Robot Systems

Proceedings of the 11th CISM IFToMM Symposium on Theory and Practice of Robots and Manipulators Ro.Man.Sy’96 1–4 July 1996, Udine, Italy, pp. 373–380, 1997

[ BIB ]

@article{Zielinski:MRROC6,
  author = {Zieliński, Cezary},
  journal = {Proceedings of the 11th CISM IFToMM Symposium on Theory and Practice of Robots and Manipulators Ro.Man.Sy'96 1--4 July 1996, Udine, Italy},
  title = {{Object--Oriented Approach to Programming Multi--Robot Systems}},
  year = {1997},
  note = {Zielinski},
  pages = {373--380},
  editors = {Morecki~A. and Bianchi~G. and Rzymkowski, C.},
  lang = {en},
  publisher = {Springer Verlag, Wien, New York}
}

1996

W. Szynkiewicz, C. Zieliński, K. Kierzenkowski, T. Zielińska, and A. Grodecki

Rozproszony sterownik wielorobotowy MRROC

V Krajowa Konferencja Robotyki, 24 AD

[ BIB ]

@article{Szyn:96a,
  author = {Szynkiewicz, W. and Zieliński, C. and Kierzenkowski, K. and Zielińska, T. and Grodecki, A.},
  title = {Rozproszony sterownik wielorobotowy {MRROC}},
  journal = {V Krajowa Konferencja Robotyki},
  year = {1996},
  month = {wrzesień},
  date = {24--26},
  lang = {pl},
  place = {Świeradów Zdrój},
  publisher = {Politechnika Warszawska},
  note = {Zielinski}
}

W. Szynkiewicz and C. Zieliński

Sterownik dwóch współpracujących robotów o pięciu stopniach swobody

V Krajowa Konferencja Robotyki, 24 AD

[ BIB ]

@article{Szyn:96b,
  author = {Szynkiewicz, W. and Zieliński, C.},
  title = {Sterownik dwóch współpracujących robotów o~pięciu stopniach swobody},
  journal = {V Krajowa Konferencja Robotyki},
  year = {1996},
  month = {wrzesień},
  date = {24--26},
  lang = {pl},
  place = {Świeradów Zdrój},
  publisher = {Politechnika Warszawska},
  note = {Zielinski}
}

C. Zieliński

Zastosowanie sterowania reakcyjnego do chwytania ruchomych przedmiotów

V Krajowa Konferencja Robotyki, 24 AD

[ BIB ]

@article{Zie:96b,
  author = {Zieliński, Cezary},
  journal = {V Krajowa Konferencja Robotyki},
  title = {{Zastosowanie sterowania reakcyjnego do chwytania ruchomych przedmiotów}},
  year = {1996},
  month = {wrzesień},
  note = {Zielinski},
  date = {24--26},
  lang = {pl},
  place = {Świeradów Zdrój},
  publisher = {Wydawnictwo Politechniki Wrocławskiej}
}

C. Zieliński and W. Szynkiewicz

Control of Two 5 d.o.f. Robots Manipulating a Rigid Object

IEEE Int. Symp. on Industrial Electronics ISIE’96, Warsaw, Poland, vol. 2, pp. 979–984, June 1996

[ BIB ]

@article{Zie:96a,
  author = {Zieliński, C. and Szynkiewicz, W.},
  title = {Control of Two 5 d.o.f. Robots Manipulating a~Rigid Object},
  journal = {IEEE Int. Symp. on Industrial Electronics ISIE'96, Warsaw, Poland},
  year = {1996},
  volume = {2},
  pages = {979--984},
  month = jun,
  lang = {en},
  note = {Zielinski}
}

C. Zieliński

Reactive Robot Control Applied to Acquiring Moving Objects

Proceedings of the 3rd International Symposium on Methods and Models in Automation and Robotics MMAR’96, vol. 3, pp. 893–898, 10 AD

[ BIB ]

@article{React,
  author = {Zieliński, Cezary},
  title = {Reactive Robot Control Applied to Acquiring Moving Objects},
  journal = {Proceedings of the 3rd International Symposium on Methods and Models in Automation and Robotics MMAR'96},
  year = {1996},
  volume = {3},
  pages = {893--898},
  month = sep,
  date = {10--13},
  lang = {en},
  place = {Międzyzdroje, Poland},
  note = {Zielinski}
}

1995

C. Zieliński

Sensorimotor robot control

in 7th IFAC/IFORS/IMACS Symposium on Large Scale Systems: Theory and Applications, 1995, vol. 2, pp. 797–802

[ BIB ]

@inproceedings{Zielinski:1995:IFAC,
  author = {Zieliński, Cezary},
  title = {Sensorimotor robot control},
  journal = {7th IFAC/IFORS/IMACS Symposium on Large Scale Systems: Theory and Applications},
  year = {1995},
  volume = {2},
  pages = {797--802},
  month = {10--13 July},
  location = {London, United Kingdom},
  lang = {en},
  note = {Zielinski}
}

C. Zieliński

Conference Report: Mixed Bag

in Mechatronics Conference. Assembly Automation, 1995, vol. 15, pp. 31–33

[ BIB ]

@inproceedings{Zielinski:1995:Report,
  author = {Zieliński, Cezary},
  title = {Conference Report: Mixed Bag},
  journal = {Mechatronics Conference. Assembly Automation},
  year = {1995},
  volume = {15},
  pages = {31--33},
  lang = {en},
  note = {Zielinski}
}

C. Zieliński

Robot Programming Methods

Warsaw: Wydział Elektroniki i Technik Informacyjnych, Politechnika Warszawska, Rozprawa habilitacyjna, Oficyna Wydawnicza Politechniki Warszawskiej, 1995

[ BIB ]

@book{Zie:95a,
  title = {Robot Programming Methods},
  publisher = {Wydział Elektroniki i Technik Informacyjnych, Politechnika Warszawska, Rozprawa habilitacyjna, Oficyna Wydawnicza Politechniki Warszawskiej},
  year = {1995},
  author = {Zieliński, Cezary},
  address = {Warsaw},
  lang = {en},
  note = {Zielinski}
}

C. Zieliński

Control of a Multi-Robot System

2nd Int. Symp. Methods and Models in Automation and Robotics MMAR’95, Międzyzdroje, Poland, pp. 603–608, 1995

[ BIB ]

@article{Zie:95b,
  author = {Zieliński, Cezary},
  title = {Control of a~Multi-Robot System},
  journal = {2nd Int. Symp. Methods and Models in Automation and Robotics MMAR'95, Międzyzdroje, Poland},
  year = {1995},
  pages = {603--608},
  month = {30 Aug.--2 Sept.},
  lang = {en},
  note = {Zielinski}
}

1994

C. Zieliński

Sensory Robot Motions

Archives of Control Sciences, vol. 3, no. 1, pp. 5–20, 1994

[ BIB ]

@article{Zie:94a,
  author = {Zieliński, Cezary},
  journal = {Archives of Control Sciences},
  title = {{Sensory Robot Motions}},
  year = {1994},
  note = {Zielinski},
  number = {1},
  pages = {5--20},
  volume = {3},
  lang = {en}
}

C. Zieliński

Distributed Software for Mechatronic Systems

International Journal of Intelligent Mechatronics: Design and Production, vol. 1, no. 1, pp. 11–24, 1994

[ BIB ]

@article{SysWielRob1,
  author = {Zieliński, Cezary},
  journal = {International Journal of Intelligent Mechatronics: Design and Production},
  title = {{Distributed Software for Mechatronic Systems}},
  year = {1994},
  note = {Zielinski},
  number = {1},
  pages = {11--24},
  volume = {1},
  lang = {en}
}

C. Zieliński

Reaction based robot control

Mechatronics, vol. 4, no. 8, pp. 843–860, 1994

[ BIB ]

@article{Zie:94c,
  author = {Zieliński, Cezary},
  journal = {Mechatronics},
  title = {{Reaction based robot control}},
  year = {1994},
  note = {Zielinski},
  number = {8},
  pages = {843--860},
  volume = {4},
  lang = {en},
  publisher = {Elsevier Science}
}

C. Zieliński and T. Zielińska

Software for Mechatronic Devices

Mechatronics: the basis for new Industrial Development, pp. 755–760, 1994

[ BIB ]

@article{Zie:94d,
  author = {Zieliński, C. and Zielińska, T.},
  journal = {Mechatronics: the basis for new Industrial Development},
  title = {{Software for Mechatronic Devices}},
  year = {1994},
  note = {Zielinski},
  pages = {755--760},
  editors = {M. Acar and J. Makra and E. Penney},
  lang = {en},
  place = {Southampton, Boston},
  publisher = {Computational Mechanics Publications}
}

C. Zieliński and T. Zielińska

Sensor–Based Reactive Robot Control

in Proceedings of the 10th CISM–IFToMM Symposium on Theory and Practice of Robots and Manipulators, Ro.Man.Sy’94, 1994, pp. 315–322

[ BIB ]

@inproceedings{Zielinski:94:IFTOMM,
  author = {Zieliński, C. and Zielińska, T.},
  title = {Sensor–Based Reactive Robot Control},
  booktitle = {Proceedings of the 10th CISM–IFToMM Symposium on Theory and Practice of Robots and Manipulators, Ro.Man.Sy’94},
  year = {1994},
  pages = {315--322},
  month = {12--15 September},
  publisher = {Springer–Verlag},
  location = {Gdańsk, Poland},
  note = {Zielinski}
}

1993

C. Zieliński

Flexible Controller for Robots Equipped with Sensors

in 9th Symp. Theory and Practice of Robots and Manipulators, Ro.Man.Sy’92, September 1–4, 1992, Udine, Italy, Lecture Notes in Control and Information Sciences, Vol. 187,

Berlin: Springer-Verlag, 1993, pp. 205–214

[ BIB ]

@incollection{Zie:93a,
  author = {Zieliński, C.},
  title = {Flexible Controller for Robots Equipped with Sensors},
  booktitle = {9th Symp. Theory and Practice of Robots and Manipulators, Ro.Man.Sy'92, September 1--4, 1992, Udine, Italy, Lecture Notes in Control and Information Sciences, Vol.~187},
  publisher = {Springer-Verlag},
  year = {1993},
  pages = {205--214},
  address = {Berlin},
  lang = {en},
  note = {Zielinski}
}

C. Zieliński

Sterownik robotów przeznaczony do celów badawczych

IV Krajowa Konferencja Robotyki, vol. 1, pp. 73–80, 1993

[ BIB ]

@article{Zie:KKR:a,
  author = {Zieliński, Cezary},
  journal = {IV Krajowa Konferencja Robotyki},
  title = {{Sterownik robotów przeznaczony do celów badawczych}},
  year = {1993},
  month = {22--24 września},
  note = {Zielinski},
  pages = {73--80},
  volume = {1},
  lang = {pl},
  place = {Wrocław},
  publisher = {Wydawnictwo Politechniki Wrocławskiej}
}

Z. T. and C. Zieliński

Zastosowanie sieci neuronowych w układach sterowania robotów.

IV Krajowa Konferencja Robotyki, vol. 2, pp. 225–231, 1993

[ BIB ]

@article{Zie:KKR:b,
  author = {T., Zielińska and Zieliński, Cezary},
  title = {Zastosowanie sieci neuronowych w układach sterowania robotów.},
  journal = {IV Krajowa Konferencja Robotyki},
  year = {1993},
  volume = {2},
  pages = {225--231},
  month = {22--24 września},
  lang = {pl},
  place = {Wrocław},
  publisher = {Wydawnictwo Politechniki Wrocławskiej},
  note = {Zielinski}
}

C. Zieliński

Robot Object-Oriented Pascal Library: ROOPL

Journal of Theoretical and Applied Mechanics, vol. 31, no. 3, pp. 525–535, 1993

[ BIB ]

@article{Zie:93b,
  author = {Zieliński, Cezary},
  journal = {Journal of Theoretical and Applied Mechanics},
  title = {{Robot Object-Oriented Pascal Library: ROOPL}},
  year = {1993},
  note = {Zielinski},
  number = {3},
  pages = {525--535},
  volume = {31},
  lang = {en}
}

C. Zieliński

Controller structure for robots with sensors

Mechatronics, vol. 3, no. 5, pp. 671–686, 1993

[ BIB ]

@article{Zie:93c,
  author = {Zieliński, Cezary},
  journal = {Mechatronics},
  title = {{Controller structure for robots with sensors}},
  year = {1993},
  note = {Zielinski},
  number = {5},
  pages = {671--686},
  volume = {3},
  lang = {en},
  publisher = {Elsevier Science}
}

1992

C. Zieliński

Object Level Robot Programming Languages

in Robotics Research and Applications,

A. Morecki, W. Muszyński, and K. Tchoń, Eds. Warsaw: WNT Warszawa, 1992, pp. 221–235

[ BIB ]

@incollection{Zie:92a,
  author = {Zieliński, Cezary},
  title = {Object Level Robot Programming Languages},
  booktitle = {Robotics Research and Applications},
  year = {1992},
  editor = {Morecki, A. and Muszyński, W. and Tchoń, K.},
  publisher = {WNT Warszawa},
  pages = {221--235},
  address = {Warsaw},
  lang = {en},
  note = {Zielinski}
}

L. G. Trabasso and C. Zieliński

Semi–automatic calibration procedure for the vision–robot interface applied to scale model decoration

Robotica, vol. 10, pp. 303–308, 1992

[ BIB ]

@article{Ziel92calib,
  author = {Trabasso, L. G. and Zieliński, C.},
  title = {Semi--automatic calibration procedure for the vision--robot interface applied to scale model decoration},
  journal = {Robotica},
  year = {1992},
  volume = {10},
  pages = {303--308},
  lang = {en},
  note = {Zielinski}
}

C. Zieliński

Description of semantics of robot programming languages

Mechatronics, vol. 2, no. 2, pp. 171–198, 1992

[ BIB ]

@article{Sem2,
  author = {Zieliński, C.},
  title = {Description of semantics of robot programming languages},
  journal = {Mechatronics},
  year = {1992},
  volume = {2},
  pages = {171--198},
  number = {2},
  lang = {en},
  publisher = {Elsevier Science},
  note = {Zielinski}
}

C. Zieliński

Sensor Instructions in Object Level Robot Programming Languages

Archiwum Budowy Maszyn, vol. 39, no. 1–2, pp. 43–54, 1992

[ BIB ]

@article{Ziel92sensObj,
  author = {Zieliński, Cezary},
  journal = {Archiwum Budowy Maszyn},
  title = {{Sensor Instructions in Object Level Robot Programming Languages}},
  year = {1992},
  note = {Zielinski},
  number = {1--2},
  pages = {43--54},
  volume = {39},
  lang = {en}
}

1991

C. Zieliński

TORBOL: An Object Level Robot Programming Language

Mechatronics, vol. 1, no. 4, pp. 469–485, 1991

[ BIB ]

@article{Zie:91,
  author = {Zieliński, C.},
  journal = {Mechatronics},
  title = {{TORBOL}: {A}n Object Level Robot Programming Language},
  year = {1991},
  note = {Zielinski},
  number = {4},
  pages = {469--485},
  volume = {1},
  lang = {en}
}

1990

C. Zieliński, A. Grodecki, U. Kręglewska, A. Śluzek, and T. Zielińska

Koncepcja sterownika robotów przeznaczonego do celów badawczych

III Krajowa Konferencja Robotyki, vol. 1, pp. 336–341, 1990

[ BIB ]

@article{Zielinski:1990:KKR:a,
  author = {Zieliński, C. and Grodecki, A. and Kręglewska, U. and Śluzek, A. and Zielińska, T.},
  journal = {III Krajowa Konferencja Robotyki},
  title = {{Koncepcja sterownika robotów przeznaczonego do celów badawczych}},
  year = {1990},
  note = {Zielinski},
  pages = {336--341},
  volume = {1},
  lang = {pl},
  place = {Wrocław},
  publisher = {Wydawnictwo Politechniki Wrocławskiej}
}

C. Zieliński and A. Śluzek

Kinematyczne aspekty sterowania robotami wyposażonymi w narzędzia osiowo symetryczne

III Krajowa Konferencja Robotyki, vol. 1, pp. 342–347, 1990

[ BIB ]

@article{Zielinski:1990:KKR:b,
  author = {Zieliński, C. and Śluzek, A.},
  journal = {III Krajowa Konferencja Robotyki},
  title = {{Kinematyczne aspekty sterowania robotami wyposażonymi w~narzędzia osiowo symetryczne}},
  year = {1990},
  note = {Zielinski},
  pages = {342--347},
  volume = {1},
  lang = {pl},
  place = {Wrocław},
  publisher = {Wydawnictwo Politechniki Wrocławskiej}
}

A. Wrzoskowicz and C. Zieliński

Automatyczne tworzenie symbolicznych modeli kinematycznych robotów.

III Krajowa Konferencja Robotyki, vol. 1, pp. 306–311, 1990

[ BIB ]

@article{Zielinski:1990:KKR:c,
  author = {Wrzoskowicz, A. and Zieliński, C.},
  title = {Automatyczne tworzenie symbolicznych modeli kinematycznych robotów.},
  journal = {III Krajowa Konferencja Robotyki},
  year = {1990},
  pages = {306--311},
  volume = {1},
  lang = {pl},
  place = {Wrocław},
  publisher = {Wydawnictwo Politechniki Wrocławskiej},
  note = {Zielinski}
}

C. Zieliński

Zastosowanie sieci Petriego do opisu działania robota wyposażonego w czujniki.

III Krajowa Konferencja Robotyki, vol. 1, pp. 330–335, 1990

[ BIB ]

@article{Zielinski:1990:KKR:d,
  author = {Zieliński, Cezary},
  title = {Zastosowanie sieci Petriego do opisu działania robota wyposażonego w czujniki.},
  journal = {III Krajowa Konferencja Robotyki},
  year = {1990},
  pages = {330--335},
  volume = {1},
  lang = {pl},
  place = {Wrocław},
  publisher = {Wydawnictwo Politechniki Wrocławskiej},
  note = {Zielinski}
}

C. Zieliński

Incorporation of Sensors in Object-Level Robot Programming Language

in Proceedings of the 8-thCISM IFToMM Symposium on Theory and Practice of Robots and Manipulators Ro. Man. Sy 90, 2 AD, pp. 418–425

[ BIB ]

@inproceedings{Zielinski:1990:iftom,
  author = {Zieliński, Cezary},
  booktitle = {Proceedings of the 8-thCISM IFToMM Symposium on Theory and Practice of Robots and Manipulators Ro. Man. Sy 90},
  title = {{Incorporation of Sensors in Object-Level Robot Programming Language}},
  year = {1990},
  editor = {Morecki, A. and Bianchi, G. and Jaworek, K.},
  month = jul,
  note = {Zielinski},
  pages = {418--425},
  publisher = {Warsaw University of Technology},
  date = {2--6},
  lang = {en},
  place = {Cracow}
}

C. Zieliński

Opis semantyki rozkazów języków programowania robotów

Archiwum Automatyki i Telemechaniki, vol. 1–2, pp. 15–45, 1990

[ BIB ]

@article{Ziel90sem-eng,
  author = {Zieliński, C.},
  journal = {Archiwum Automatyki i~Telemechaniki},
  title = {{Opis semantyki rozkazów języków programowania robotów}},
  year = {1990},
  note = {Description of Robot Programming Language Instruction Semantics (In~Polish) -- Zielinski},
  pages = {15--45},
  volume = {1--2},
  lang = {pl}
}

1989

T. Zielińska and C. Zieliński

Levels of walking machine programming languages.

in Proceedings of the International Conference on Industrial Robots ROBCON’5, 1989

[ BIB ]

@inproceedings{Zielinska:1989:robcon,
  author = {Zielińska, Teresa and Zieliński, Cezary},
  title = {Levels of walking machine programming languages.},
  booktitle = {Proceedings of the International Conference on Industrial Robots ROBCON’5},
  year = {1989},
  month = {9-11 October},
  lang = {en},
  place = {Varna, Bulgaria},
  note = {Zielinski}
}

C. Zieliński

TORBOL – język programowania robotów przeznaczonych do wykonywania zadań transportowo-montażowych

Archiwum Automatyki i Telemechaniki, vol. 3, 1989

[ BIB ]

@article{torbol4,
  author = {Zieliński, C.},
  title = {TORBOL -- język programowania robotów przeznaczonych do wykonywania zadań transportowo-montażowych},
  journal = {Archiwum Automatyki i~Telemechaniki},
  year = {1989},
  volume = {3},
  lang = {pl},
  note = {Zielinski}
}

C. Zieliński

Przegląd cech istniejących języków programowania robotów

Archiwum Automatyki i Telemechaniki, vol. 3, 1989

[ BIB ]

@article{RPL1,
  author = {Zieliński, C.},
  title = {Przegląd cech istniejących języków programowania robotów},
  journal = {Archiwum Automatyki i~Telemechaniki},
  year = {1989},
  volume = {3},
  lang = {pl},
  note = {Zielinski}
}

1988

C. Zieliński

Klasyfikacja i metody definiowania języków programowania robotów: zastosowanie do sformułowania języka zorientowanego na przemieszczanie obiektów.

PhD thesis, Politechnika Warszawska, Wydział Elektroniki, 1988

[ BIB ]

@phdthesis{Zielinski:1988_phd,
  author = {Zieliński, Cezary},
  title = {Klasyfikacja i metody definiowania języków programowania robotów: zastosowanie do sformułowania języka zorientowanego na przemieszczanie obiektów.},
  school = {Politechnika Warszawska, Wydział Elektroniki},
  year = {1988},
  note = {Zielinski}
}

C. Zieliński

Środowisko programowe języka programowania robotów zorientowanego na przemieszczanie obiektów

II Krajowa Konferencja Robotyki, 1988

[ BIB ]

@article{torbol2,
  author = {Zieliński, C.},
  title = {Środowisko programowe języka programowania robotów zorientowanego na przemieszczanie obiektów},
  journal = {II Krajowa Konferencja Robotyki},
  year = {1988},
  lang = {pl},
  place = {Wrocław},
  publisher = {Wydawnictwo Politechniki Wrocławskiej},
  note = {Zielinski}
}

C. Zieliński

TORBOL – język programowania robotów zorientowany na przemieszczanie obiektów

X Krajowa Konferencja Automatyki, vol. 3, pp. 61–62, 1988

[ BIB ]

@article{torbol1,
  author = {Zieliński, C.},
  journal = {X Krajowa Konferencja Automatyki},
  title = {{TORBOL -- język programowania robotów zorientowany na przemieszczanie obiektów}},
  year = {1988},
  note = {Zielinski},
  pages = {61--62},
  volume = {3},
  lang = {pl},
  place = {Lublin},
  publisher = {Wydawnictwo Politechniki Lubelskiej}
}

1987

C. Zieliński

Języki programowania robotów

in Robotyka. Seria wydawnicza: Podstawowe Problemy Współczesnej Techniki,

A. Morecki, Ed. Polska Akademia Nauk, 1987, pp. 129–139

[ BIB ]

@incollection{Ziel87jezyki,
  author = {Zieliński, C.},
  title = {Języki programowania robotów},
  booktitle = {Robotyka. Seria wydawnicza: Podstawowe Problemy Współczesnej Techniki},
  publisher = {Polska Akademia Nauk},
  year = {1987},
  editor = {Morecki, A.},
  pages = {129--139},
  lang = {pl},
  note = {Zielinski}
}

1986

C. Zieliński

Nowoczesne techniki projektowania i wytwarzania.

in Elektronizacja nr 10,

1986, pp. 8–11

[ BIB ]

@incollection{Zielinski:1986,
  author = {Zieliński, Cezary},
  title = {Nowoczesne techniki projektowania i wytwarzania.},
  booktitle = {Elektronizacja nr 10},
  year = {1986},
  pages = {8--11},
  lang = {pl},
  note = {Zielinski}
}

1985

A. Śluzek and C. Zieliński

New data types for 4/5 degree of freedom robot manipulators

in Proceedings of the 15th International Symposium on Industrial Robots, 1985, pp. 1067–1073

[ BIB ]

@inproceedings{Sluzek:1985_45dof,
  author = {Śluzek, Andrzej and Zieliński, Cezary},
  title = {New data types for 4/5 degree of freedom robot manipulators},
  booktitle = {Proceedings of the 15th International Symposium on Industrial Robots},
  year = {1985},
  pages = {1067-1073},
  place = {Tokyo},
  note = {Zielinski}
}

C. Zieliński

Semantics of the low level robot language instructions.

in Proceedings of the 15th International Symposium on Industrial Robots, 1985, pp. 952–993

[ BIB ]

@inproceedings{Zielinski:1985:Tokyo,
  author = {Zieliński, Cezary},
  title = {Semantics of the low level robot language instructions.},
  booktitle = {Proceedings of the 15th International Symposium on Industrial Robots},
  year = {1985},
  place = {Tokyo},
  pages = {952-993},
  note = {Zielinski}
}

H. Kruszyński, A. Śluzek, and C. Zieliński

Analiza porównawcza parametrów wybranych robotów przemysłowych.

I Krajowa Konferencja Robotyki, vol. 2, pp. 51–64, 1985

[ BIB ]

@article{Kruszynski:1985:KKR,
  author = {Kruszyński, H. and Śluzek, A. and Zieliński, C.},
  title = {Analiza porównawcza parametrów wybranych robotów przemysłowych.},
  journal = {I Krajowa Konferencja Robotyki},
  year = {1985},
  volume = {2},
  pages = {51--64},
  lang = {pl},
  place = {Wrocław},
  publisher = {Wydawnictwo Politechniki Wrocławskiej},
  note = {Zielinski}
}

C. Zieliński and A. Śluzek

Kinematyczne aspekty sterowania robotami o pięciu stopniach swobody.

I Krajowa Konferencja Robotyki, vol. 2, pp. 121–129, 1985

[ BIB ]

@article{Zielinski:1985:KKR,
  author = {Zieliński, C. and Śluzek, A.},
  title = {Kinematyczne aspekty sterowania robotami o pięciu stopniach swobody.},
  journal = {I Krajowa Konferencja Robotyki},
  year = {1985},
  volume = {2},
  pages = {121--129},
  lang = {pl},
  place = {Wrocław},
  publisher = {Wydawnictwo Politechniki Wrocławskiej},
  note = {Zielinski}
}

C. Zieliński

Hierarchia języków programowania robotów wraz z opisem semantyki wybranych rozkazów

Archiwum Automatyki i Telemechaniki, vol. 3–4, pp. 387–405, 1985

[ BIB ]

@article{Ziel85sem,
  author = {Zieliński, C.},
  title = {Hierarchia języków programowania robotów wraz z~opisem semantyki wybranych rozkazów},
  journal = {Archiwum Automatyki i~Telemechaniki},
  year = {1985},
  volume = {3--4},
  pages = {387--405},
  lang = {pl},
  note = {Zielinski}
}

1984

C. Zieliński

Roboty – Złożone języki programowania

Informatyka, nr 9, pp. 8–11, 1984

[ BIB ]

@article{Zielinski:1984:zlozone,
  author = {Zieliński, Cezary},
  title = {Roboty -- Złożone języki programowania},
  journal = {Informatyka, nr 9},
  year = {1984},
  pages = {8--11},
  lang = {pl},
  note = {Zielinski}
}

C. Zieliński

Roboty – Proste języki programowania

Informatyka, nr 8, pp. 6–8, 1984

[ BIB ]

@article{Zielinski:1984:proste,
  author = {Zieliński, Cezary},
  title = {Roboty -- Proste języki programowania},
  journal = {Informatyka, nr 8},
  year = {1984},
  pages = {6--8},
  lang = {pl},
  note = {Zielinski}
}

C. Zieliński

Roboty – Konstrukcja i możliwości zastosowań

Informatyka, nr 5, pp. 5–7, 1984

[ BIB ]

@article{Zielinski:1984:konstrukcja,
  author = {Zieliński, Cezary},
  title = {Roboty -- Konstrukcja i możliwości zastosowań},
  journal = {Informatyka, nr 5},
  year = {1984},
  pages = {5--7},
  lang = {pl},
  note = {Zielinski}
}

1983

C. Zieliński

Anatomia robotów – Systemy sterowania.

Elektronizacja, nr 12, pp. 13–15, 1983

[ BIB ]

@article{Zielinski:1983:anatomia,
  author = {Zieliński, Cezary},
  title = {Anatomia robotów -- Systemy sterowania.},
  journal = {Elektronizacja, nr 12},
  year = {1983},
  pages = {13--15},
  lang = {pl},
  note = {Zielinski}
}

C. Zieliński

Anatomia robotów – Konstrukcja.

Elektronizacja, nr 11, pp. 16–18, 1983

[ BIB ]

@article{Zielinski:1983:konstrukcja,
  author = {Zieliński, Cezary},
  title = {Anatomia robotów -- Konstrukcja.},
  journal = {Elektronizacja, nr 11},
  year = {1983},
  pages = {16--18},
  lang = {pl},
  note = {Zielinski}
}