Safety-aware Management of robot’s Interruptible Tasks in dynamic environments.

• A development procedure (SPSysDP) and a meta-model (SPSysML) for Simulation-Physical systems incorporating digital twins and their hardware equivalents (physical twins)
SPSysML documentation

• Example gantt chart of robot tasks

1. W. Dudek, D. Giełdowski, and T. Winiarski
   A framework for training and benchmarking algorithms that schedule robot tasks
   arXiv:2408.16844, 2024
   [ BIB | DOI | abstract ]

   @article{smit-framework-arxiv-24-twiki,
     author = {Dudek, Wojciech and Giełdowski, Daniel and Winiarski, Tomasz},
     journal = {arXiv:2408.16844},
     title = {A framework for training and benchmarking algorithms that schedule robot tasks},
     year = {2024},
     doi = {10.48550/arXiv.2408.16844},
     projects = {SMIT},
     twiki = {preprint}
   }
   

   Service robots work in a changing environment habited by exogenous agents like humans. In the service robotics domain, lots of uncertainties result from exogenous actions and inaccurate localisation of objects and the robot itself. This makes the robot task scheduling problem incredibly challenging. In this article, we propose a benchmarking system for systematically assessing the performance of algorithms scheduling robot tasks. The robot environment incorporates a room map, furniture, transportable objects, and moving humans; the system defines interfaces for the algorithms, tasks to be executed, and evaluation methods. The system consists of several tools, easing testing scenario generation for training AI-based scheduling algorithms and statistical testing. For benchmarking purposes, a set of scenarios is chosen, and the performance of several scheduling algorithms is assessed. The system source is published to serve the community for tuning and comparable assessment of robot task scheduling algorithms for service robots.

2. S. Stankevich and W. Dudek
   Interpreting and learning voice commands with a Large Language Model for a robot system
   in Progress in Polish Artificial Intelligence Research, 2024, no. 5, pp. 295–301
   [ BIB | DOI | abstract ]

   @inproceedings{llm-pprai-24-twiki,
     author = {Stankevich, Stanislau and Dudek, Wojciech},
     booktitle = {Progress in Polish Artificial Intelligence Research},
     title = {Interpreting and learning voice commands with a Large Language Model for a robot system},
     year = {2024},
     month = apr,
     note = {PP-RAI 2024, 5th Polish Conference on Artificial Intelligence, 18-20.04.2024 Warsaw, Poland},
     number = {5},
     pages = {295-301},
     publisher = {Warsaw University of Technology},
     doi = {10.17388/WUT.2024.0002.MiNI},
     projects = {SMIT},
     twiki = {article}
   }
   

   Robots are increasingly common in industry and daily life, such as in nursing homes where they can assist staff. A key challenge is developing intuitive interfaces for easy communication. The use of Large Language Models (LLMs) like GPT-4 has enhanced robot capabilities, allowing for real-time interaction and decision-making. This integration improves robots’ adaptability and functionality. This project focuses on merging LLMs with databases to improve decision-making and enable knowledge acquisition for request interpretation problems.

3. T. Winiarski, W. Dudek, and D. Giełdowski
   Rico: extended TIAGo robot towards up-to-date social and assistive robot usage scenarios
   in Progress in Polish Artificial Intelligence Research, 2024, no. 5, pp. 287–294
   [ BIB | DOI | abstract ]

   @inproceedings{rico-pprai-24-twiki,
     author = {Winiarski, Tomasz and Dudek, Wojciech and Giełdowski, Daniel},
     booktitle = {Progress in Polish Artificial Intelligence Research},
     title = {Rico: extended TIAGo robot towards up-to-date social and assistive robot usage scenarios},
     year = {2024},
     month = apr,
     note = {PP-RAI 2024, 5th Polish Conference on Artificial Intelligence, 18-20.04.2024 Warsaw, Poland},
     number = {5},
     pages = {287-294},
     publisher = {Warsaw University of Technology},
     doi = {10.17388/WUT.2024.0002.MiNI},
     projects = {SMIT},
     twiki = {article}
   }
   

   Social and assistive robotics have vastly increased in popularity in recent years. Due to the wide range of usage, robots executing such tasks must be highly reliable and possess enough functions to satisfy multiple scenarios. This article describes a mobile, artificial intelligence-driven, robotic platform Rico. Its prior usage in similar scenarios, the number of its capabilities, and the experiments it presented should qualify it as a proper arm-less platform for social and assistive circumstances.

4. W. Dudek, D. Giełowski, M. Stefańczyk, and T. Winiarski
   Robot Task Management Training Toolchain
   2023
   [ BIB | URL ]

   @article{smit-pprai-23-twiki,
     author = {Dudek, Wojciech and Giełowski, Daniel and Stefańczyk, Maciej and Winiarski, Tomasz},
     journal = {},
     title = {Robot Task Management Training Toolchain},
     year = {2023},
     note = {PP-RAI 2023, 4th Polish Conference on Artificial Intelligence, 24-26.04.2023 Łódź, Poland},
     projects = {SMIT},
     twiki = {preprint},
     url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2023/pprai-23-robot-task-training-toolbox.pdf}
   }
   

5. T. Winiarski
   MeROS: SysML-based Metamodel for ROS-based Systems
   IEEE Access, vol. 11, pp. 82802–82815, 2023
   [ BIB | DOI | abstract ]

   @article{meros-access-twiki,
     author = {Winiarski, Tomasz},
     journal = {IEEE Access},
     title = {{MeROS: SysML-based Metamodel for ROS-based Systems}},
     year = {2023},
     pages = {82802-82815},
     volume = {11},
     doi = {10.1109/ACCESS.2023.3301727},
     projects = {SMIT},
     twiki = {article}
   }
   

   The complexity of today’s robot control systems implies difficulty in developing them efficiently and reliably. Systems engineering (SE) and frameworks come to help. The framework metamodels are needed to support the standardisation and correctness of the created application models. Although the use of frameworks is widespread nowadays, for the most popular of them, Robot Operating System (ROS), a contemporary metamodel has been missing so far. This article proposes a new metamodel for ROS called MeROS, which addresses the running system and developer workspace. The ROS comes in two versions: ROS 1 and ROS 2. The metamodel includes both versions. In particular, the latest ROS 1 concepts are considered, such as nodelet, action, and metapackage. An essential addition to the original ROS concepts is the grouping of these concepts, which provides an opportunity to illustrate the system’s decomposition and varying degrees of detail in its presentation. The metamodel is derived from the requirements and verified on the practical example of Rico assistive robot. The matter is described in a standardised way in SysML (Systems Modeling Language). Hence, common development tools that support SysML can help develop robot controllers in the spirit of SE.

6. W. Dudek, N. Miguel, and T. Winiarski
   SPSysML: A meta-model for quantitative evaluation of Simulation-Physical Systems
   arXiv:2303.09565, 2023
   [ BIB | DOI | abstract ]

   @article{dudek2023spsysml-twiki,
     author = {Dudek, Wojciech and Miguel, Narcis and Winiarski, Tomasz},
     journal = {arXiv:2303.09565},
     title = {{SPSysML: A meta-model for quantitative evaluation of Simulation-Physical Systems}},
     year = {2023},
     doi = {10.48550/arXiv.2303.09565},
     projects = {SMIT},
     twiki = {article}
   }
   

   Robotic systems are complex cyber-physical systems (CPS) commonly equipped with multiple sensors and effectors. Recent simulation methods enable the Digital Twin (DT) concept realisation. However, DT employment in robotic system development, e.g. in-development testing, is unclear. During the system development, its parts evolve from simulated mockups to physical parts which run software deployed on the actual hardware. Therefore, a design tool and a flexible development procedure ensuring the integrity of the simulated and physical parts are required. We aim to maximise the integration between a CPS’s simulated and physical parts in various setups. The better integration, the better simulation-based testing coverage of the physical part (hardware and software). We propose a Domain Specification Language (DSL) based on Systems Modeling Language (SysML) that we refer to as SPSysML (Simulation-Physical System Modeling Language). SPSysML defines the taxonomy of a Simulation-Physical System (SPSys), being a CPS consisting of at least a physical or simulated part. In particular, the simulated ones can be DTs. We propose a SPSys Development Procedure (SPSysDP) that enables the maximisation of the simulation-physical integrity of SPSys by evaluating the proposed factors. SPSysDP is used to develop a complex robotic system for the INCARE project. In subsequent iterations of SPSysDP, the simulation-physical integrity of the system is maximised. As a result, the system model consists of fewer components, and a greater fraction of the system components are shared between various system setups. We implement and test the system with popular frameworks, Robot Operating System (ROS) and Gazebo simulator. SPSysML with SPSysDP enables the design of SPSys (including DT and CPS), multi-setup system development featuring maximised integrity between simulation and physical parts in its setups.