EARL follows a Model-Driven Software Development approach (MDSD), which facilitates cyberphysical 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 robot controllers. EARL is compatible with component based robotic middlewares (e.g., ROS and Orocos).

If you are to use EARL, in your papers, please at first cite the Electronics journal article: EARL - Embodied Agent-Based Robot Control Systems Modelling Language. EARL is constantly developed, so you can base on the current documentation and additionally refer to the particular version of the EARL listed below.

• EARL 1.3 specification
• EARL 1.3 profile
• EARL 1.2 specification
• EARL 1.1 specification
• EARL 1.0 specification

1. 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.

2. 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.

3. 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},
     url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/student-theses/dgieldowski-msc-21-twiki.pdf}
   }
   

4. S. Jarocki
   Rozszerzenie prawa sterowania robota usługowego Velma w odniesieniu do manipulacji obiektami
   Master’s thesis, IAiIS, 2020
   Tutor: Tomasz Winiarski
   [ BIB | URL ]

   @mastersthesis{sjarocki-msc-20-twiki,
     author = {Jarocki, Szymon},
     title = {{Rozszerzenie prawa sterowania robota usługowego Velma w odniesieniu do manipulacji obiektami}},
     school = {WEiTI},
     year = {2020},
     type = {Master's thesis},
     lang = {pl},
     organization = {IAiIS},
     publisher = {IAiIS},
     projects = {EARL},
     tutor = {Tomasz Winiarski},
     twiki = {msc},
     url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/student-theses/sjarocki-msc-20-twiki.pdf}
   }
   

5. 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).

6. 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.