Robots

Dobot Magician

Dobot Magician manipulator robot

List of selected publications:

F. Szyszko

Sterownik robota Dobot Magician oparty o ROS 2 Jazzy

Bachelor’s thesis, IAiIS, 2025

Tutor: Tomasz Winiarski
[ BIB | URL ]

@mastersthesis{fszyszko-bsc-25-twiki,
  author = {Szyszko, Filip},
  school = {WEiTI},
  title = {{Sterownik robota Dobot Magician oparty o ROS 2 Jazzy}},
  engtitle = {{Dobot Magician robot controller based on ROS2 Jazzy}},
  year = {2025},
  type = {Bachelor's thesis},
  lang = {pl},
  organization = {IAiIS},
  publisher = {IAiIS},
  tutor = {Tomasz Winiarski},
  twiki = {bsc},
  robots = {magician},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs_ev/-/raw/main/student-theses/fszyszko-bsc-25-twiki.pdf}
}

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.

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.

J. Kaniuka

Sterowanie zespołem heterogenicznych robotów z użyciem ROS 2

Master’s thesis, IAiIS, 2024

Tutor: Tomasz Winiarski
[ BIB | URL ]

@mastersthesis{jkaniuka-msc-24-twiki,
  author = {Kaniuka, Jan},
  school = {WEiTI},
  title = {{Sterowanie zespołem heterogenicznych robotów z użyciem ROS 2}},
  year = {2024},
  type = {Master's thesis},
  engtitle = {{ROS 2-based control of a team of heterogeneous robots}},
  lang = {pl},
  organization = {IAiIS},
  publisher = {IAiIS},
  tutor = {Tomasz Winiarski},
  twiki = {msc},
  robots = {minirys, magician},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs_ev/-/raw/main/student-theses/jkaniuka-msc-24-twiki.pdf}
}

J. Kaniuka

System sterowania robota manipulacyjnego Dobot Magician na bazie frameworka ROS2

Bachelor’s thesis, IAiIS, 2023

Tutor: Tomasz Winiarski
[ BIB | URL ]

@mastersthesis{jkaniuka-bsc-23-twiki,
  author = {Kaniuka, Jan},
  school = {WEiTI},
  title = {{System sterowania robota manipulacyjnego Dobot Magician na bazie frameworka ROS2}},
  engtitle = {{Control system of DobotMagician robotic manipulator based on ROS2 framework}},
  year = {2023},
  type = {Bachelor's thesis},
  lang = {pl},
  organization = {IAiIS},
  publisher = {IAiIS},
  tutor = {Tomasz Winiarski},
  twiki = {bsc},
  robots = {magician},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs_ev/-/raw/main/student-theses/jkaniuka-bsc-23-twiki.pdf}
}