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, N. Miguel, and T. Winiarski
   A SysML-based language for evaluating the integrity of simulation and physical embodiments of Cyber–Physical systems
   Robotics and Autonomous Systems, vol. 185, p. 104884, 2025
   [ BIB | DOI | abstract ]

   @article{dudek2025spsysml-twiki,
     author = {Dudek, Wojciech and Miguel, Narcis and Winiarski, Tomasz},
     journal = {Robotics and Autonomous Systems},
     title = {A SysML-based language for evaluating the integrity of simulation and physical embodiments of Cyber–Physical systems},
     year = {2025},
     issn = {0921-8890},
     pages = {104884},
     volume = {185},
     doi = {10.1016/j.robot.2024.104884},
     keywords = {Design analysis and evaluation, Digital twins, System architecture, Model-based evaluation, Domain-specification language, Multi-agent systems, Robotics},
     projects = {SMIT},
     twiki = {article}
   }
   

   Evaluating early design concepts is crucial as it impacts quality and cost. This process is often hindered by vague and uncertain design information. This article introduces the SysML-based Simulated–Physical Systems Modelling Language (SPSysML). It is a Domain-Specification Language for evaluating component reusability in Cyber–Physical Systems incorporating Digital Twins and other simulated parts. The proposed factors assess the design quantitatively. SPSysML uses a requirement-based system structuring method to couple simulated and physical parts with requirements. SPSysML-based systems incorporate DTs that perceive exogenous actions in the simulated world. SPSysML validation is survey- and application-based. First, we develop a robotic system for an assisted living project. We propose an SPSysML application procedure called SPSysAP that manages the considered system development by evaluating the system designs with the proposed quantitative factors. As a result of the SPSysML application, we observed an integrity improvement between the simulated and physical parts of the system. Thus, more system components are shared between the simulated and physical setups. The system was deployed on the physical robot and two simulators based on ROS and ROS2. Additionally, we share a questionnaire for SPSysML assessment. The feedback that we already received is published in this article.

2. 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.

3. 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.

4. 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.

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, 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}
   }