Team

Maksym Figat

LinkedIn ID: maksym-figat

ORCID iD: 0000-0002-1898-0540

Scopus Author ID: 56548803800

Scholar Google ID: VkDGqfAAAAAJ

His main scientific interests focus on automatic metods of robot control systems geneneration

Selected projects list (start date):

2014

2013

Selected publications chronological list:

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}
}

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}
}

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

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}
}

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

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}
}

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}
}

2022

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}
}

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.

2020

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}
}

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.
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.

2019

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}
}

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}
}

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.
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.
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.

2018

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, 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.

2017

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.
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.

2016

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.
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.
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.

2015

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. 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}
}

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}
}

2014

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}
}