Robots

MiniRyś

Mini mobile robot with two modes of locomotion

List of selected publications:

M. Palczuk

System robotyczny na bazie robotów MiniRyś odwzorowujący ruch pojazdów

Master’s thesis, IAiIS, 2026

Tutor: Tomasz Winiarski
[ BIB | URL ]

@mastersthesis{mpalczuk-msc-26-twiki,
  author = {Palczuk, Mateusz},
  school = {WEiTI},
  title = {{System robotyczny na bazie robotów MiniRyś odwzorowujący ruch pojazdów}},
  year = {2026},
  type = {Master's thesis},
  engtitle = {{The robotic system based on MiniRyś robots that replicates road‑traffic behaviour}},
  lang = {pl},
  organization = {IAiIS},
  publisher = {IAiIS},
  tutor = {Tomasz Winiarski},
  twiki = {msc},
  robots = {minirys},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs_ev/-/raw/main/student-theses/mpalczuk-msc-26-twiki.pdf}
}

J. Ostrysz

Platforma badawcza robota MiniRyś w zadaniu nawigacji roju robotów

Master’s thesis, IAiIS, 2025

Tutor: Tomasz Winiarski
[ BIB | URL ]

@mastersthesis{jostrysz-msc-25-twiki,
  author = {Ostrysz, Jakub},
  school = {WEiTI},
  title = {{Platforma badawcza robota MiniRyś w zadaniu nawigacji roju robotów}},
  year = {2025},
  type = {Master's thesis},
  engtitle = {{MiniLynx robot research platform in a robot swarm navigation task}},
  lang = {pl},
  organization = {IAiIS},
  publisher = {IAiIS},
  tutor = {Tomasz Winiarski},
  twiki = {msc},
  robots = {minirys},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs_ev/-/raw/main/student-theses/jostrysz-msc-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.

J. Sadowski

Wykorzystanie wizji komputerowej w zadaniu zagarniania obiektów przez robota mobilnego

Master’s thesis, II, 2025

Tutor: Tomasz Winiarski
[ BIB | URL ]

@mastersthesis{jsadowski-msc-25-twiki,
  author = {Sadowski, Jakub},
  school = {WEiTI},
  title = {{Wykorzystanie wizji komputerowej w~zadaniu zagarniania obiektów przez robota mobilnego}},
  engtitle = {{The use of computer vision in the task of picking objects by a mobile robot}},
  year = {2025},
  type = {Master's thesis},
  lang = {pl},
  organization = {II},
  publisher = {II},
  tutor = {Tomasz Winiarski},
  twiki = {msc},
  robots = {minirys},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs_ev/-/raw/main/student-theses/jsadowski-msc-25-twiki.pdf}
}

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}
}

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},
  year = {2024}
}

P. Rawicki

Graficzny interfejs użytkownika dla grupy robotów MiniRyś

Master’s thesis, IAiIS, 2024

Tutor: Tomasz Winiarski
[ BIB | URL ]

@mastersthesis{prawicki-msc-24-twiki,
  author = {Rawicki, Paweł},
  school = {WEiTI},
  title = {{Graficzny interfejs użytkownika dla grupy robotów MiniRyś}},
  year = {2024},
  type = {Master's thesis},
  engtitle = {{Graphical user interface for the MiniRyś robot group}},
  lang = {pl},
  organization = {IAiIS},
  publisher = {IAiIS},
  tutor = {Tomasz Winiarski},
  twiki = {msc},
  robots = {minirys},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/student-theses/prawicki-msc-24-twiki.pdf}
}

J. Sadowski

Śledzenie linii i przejazd korytarzem robotem o zmiennym sposobie lokomocji

Bachelor’s thesis, IAiIS, 2024

Tutor: Tomasz Winiarski
[ BIB | URL ]

@mastersthesis{jsadowski-bsc-24-twiki,
  author = {Sadowski, Jakub},
  school = {WEiTI},
  title = {{Śledzenie linii i przejazd korytarzem robotem o zmiennym sposobie lokomocji}},
  engtitle = {{Line following and passing through a corridor by a robot with variable mode of locomotion}},
  year = {2024},
  type = {Bachelor's thesis},
  lang = {pl},
  organization = {IAiIS},
  publisher = {IAiIS},
  tutor = {Tomasz Winiarski},
  twiki = {bsc},
  robots = {minirys},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs_ev/-/raw/main/student-theses/jsadowski-bsc-24-twiki.pdf}
}

M. Dumin

Symulacja robotów MiniRyś w Gazebo Classic

Master’s thesis, IAiIS, 2024

Tutor: Tomasz Winiarski
[ BIB | URL ]

@mastersthesis{mdumin-msc-24-twiki,
  author = {Dumin, Mateusz},
  school = {WEiTI},
  title = {{Symulacja robotów MiniRyś w Gazebo Classic}},
  year = {2024},
  type = {Master's thesis},
  engtitle = {{Simulation of the MiniRys Robots in Gazebo Classic}},
  lang = {pl},
  organization = {IAiIS},
  publisher = {IAiIS},
  tutor = {Tomasz Winiarski},
  twiki = {msc},
  robots = {minirys},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/student-theses/mdumin-msc-24-twiki.pdf}
}

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. Ostrysz

Badania, modernizacja oraz wizualizacja robota mobilnego MiniRyś

Bachelor’s thesis, IAiIS, 2023

Tutor: Tomasz Winiarski
[ BIB | URL ]

@mastersthesis{jostrysz-bsc-23-twiki,
  author = {Ostrysz, Jakub},
  school = {WEiTI},
  title = {{Badania, modernizacja oraz wizualizacja robota mobilnego MiniRyś}},
  engtitle = {{Research, modernization and visualization of the MiniRyś mobile robot}},
  year = {2023},
  type = {Bachelor's thesis},
  lang = {pl},
  organization = {IAiIS},
  publisher = {IAiIS},
  tutor = {Tomasz Winiarski},
  twiki = {bsc},
  robots = {minirys},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs_ev/-/raw/main/student-theses/jostrysz-bsc-23-twiki.pdf}
}

H. Kowalski

Platforma sprzętowo-programowa Miniryś board V5

Bachelor’s thesis, IAiIS, 2022

Tutor: Tomasz Winiarski
[ BIB | URL ]

@mastersthesis{hkowalski-bsc-22-twiki,
  author = {Kowalski, Hubert},
  school = {WEiTI},
  title = {{Platforma sprzętowo-programowa Miniryś board V5}},
  engtitle = {{Hardware and software platform Miniryś board V5}},
  year = {2022},
  type = {Bachelor's thesis},
  lang = {pl},
  organization = {IAiIS},
  publisher = {IAiIS},
  tutor = {Tomasz Winiarski},
  twiki = {bsc},
  robots = {minirys},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/student-theses/hkowalski-bsc-22-twiki.pdf}
}

D. Giełdowski

Struktura i implementacja systemu robotycznego zawierającego robota MiniRyś

Master’s thesis, IAiIS, 2021

Tutor: Tomasz Winiarski
[ BIB | URL ]

@mastersthesis{dgieldowski-msc-21-twiki,
  author = {Giełdowski, Daniel},
  school = {WEiTI},
  title = {{Struktura i implementacja systemu robotycznego zawierającego robota MiniRyś}},
  year = {2021},
  type = {Master's thesis},
  lang = {pl},
  projects = {EARL},
  organization = {IAiIS},
  publisher = {IAiIS},
  tutor = {Tomasz Winiarski},
  twiki = {msc},
  robots = {minirys},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/student-theses/dgieldowski-msc-21-twiki.pdf}
}

M. Stolarz

Robot MiniRyś śledzący linię z wykorzystaniem systemu wizyjnego

Bachelor’s thesis, IAiIS, 2020

Tutor: Tomasz Winiarski
[ BIB | URL ]

@mastersthesis{mstolarz-bsc-20-twiki,
  author = {Stolarz, Michał},
  school = {WEiTI},
  title = {{Robot MiniRyś śledzący linię z wykorzystaniem systemu wizyjnego}},
  year = {2020},
  type = {Bachelor's thesis},
  lang = {pl},
  organization = {IAiIS},
  publisher = {IAiIS},
  tutor = {Tomasz Winiarski},
  twiki = {bsc},
  robots = {minirys},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/student-theses/mstolarz-bsc-20-twiki.pdf}
}

K. Foryszewski

Robot mobilny MiniRyś

Bachelor’s thesis, IAiIS, 2019

Tutor: Tomasz Winiarski
[ BIB | URL ]

@mastersthesis{kforyszewski-bsc-19-twiki,
  author = {Foryszewski, Kamil},
  school = {WEiTI},
  title = {{Robot mobilny MiniRyś}},
  year = {2019},
  type = {Bachelor's thesis},
  lang = {pl},
  organization = {IAiIS},
  publisher = {IAiIS},
  tutor = {Tomasz Winiarski},
  twiki = {bsc},
  robots = {minirys},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/student-theses/kforyszewski-bsc-19-twiki.pdf}
}

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.

M. Bogusz

System sterowania robotem mobilnym MiniRyś

Bachelor’s thesis, IAiIS, 2018

Tutor: Wojciech Szynkiewicz
[ BIB | URL ]

@mastersthesis{mbogusz-bsc-18-twiki,
  author = {Bogusz, Maciej},
  school = {WEiTI},
  title = {{System sterowania robotem mobilnym MiniRyś}},
  year = {2018},
  type = {Bachelor's thesis},
  lang = {pl},
  organization = {IAiIS},
  publisher = {IAiIS},
  tutor = {Wojciech Szynkiewicz},
  twiki = {bsc},
  robots = {minirys},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs_ev/-/raw/main/student-theses/mbogusz-bsc-18-twiki.pdf}
}

D. Giełdowski

Sterowanie silnikiem skokowym robota MiniRyś

Bachelor’s thesis, IAiIS, 2018

Tutor: Tomasz Winiarski
[ BIB | URL ]

@mastersthesis{dgieldowski-bsc-18-twiki,
  author = {Giełdowski, Daniel},
  school = {WEiTI},
  title = {{Sterowanie silnikiem skokowym robota MiniRyś}},
  year = {2018},
  type = {Bachelor's thesis},
  lang = {pl},
  organization = {IAiIS},
  publisher = {IAiIS},
  tutor = {Tomasz Winiarski},
  twiki = {bsc},
  robots = {minirys},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/student-theses/dgieldowski-bsc-18-twiki.pdf}
}