RAPP < Robot Programming and Pattern Recognition Group

European Commission – FP7 grant

RAPP

scientific project

Robotic Applications for Delivering Smart User Empowering Applications

Start: December 2013
Finish: December 2016
Principal Investigator: Cezary Zieliński,
Researchers: Konrad Banachowicz, Wojciech Dudek, Jan Figat, Maksym Figat, Włodzimierz Kasprzak, Tomasz Kornuta, Maciej Stefańczyk, Marcin Szlenk, Wojciech Szynkiewicz, Tomasz Winiarski,

List of selected publications:

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.
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.
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.
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.
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.

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. 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}
}

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}
}

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.

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}
}

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}
}

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}
}