Team

Cezary Zieliński

Researcher ID: F-3842-2015

His research interests focus on robotics in general and especially include: robot programming methods (robot programming languages and robot programming frameworks), multi-robot system controllers, robot kinematics, robot force control, visual servo control, utilisation of sensors in robot control, behavioural and hybrid (behavioural-deliberative) control of robots, general purpose programming languages, mechatronics, design of digital circuits. He is the author/coauthor of over 200 conference and journal papers concerned with the above mentioned research subjects.

Selected projects list (start date):

2020

Selected publications chronological list:

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}
}

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}
}

C. Zieliński

Robotics: Techniques, Functions, Social Role, Part 3: Robots and Social Problems (in Polish)

Measurements, Automation, Robotics – Pomiary Automatyka Robotyka (PAR), vol. 27, no. 248, pp. 5–20, 2023

[ BIB | DOI | URL ]

@article{Zielinski-Robotyka:2023cz3-twiki,
  author = {Zieliński, Cezary},
  title = {{Robotics: Techniques, Functions, Social Role, Part 3: Robots and Social Problems (in Polish)}},
  year = {2023},
  journal = {{Measurements, Automation, Robotics -- Pomiary Automatyka Robotyka (PAR)}},
  doi = {10.14313/PAR_248/5},
  volume = {27},
  number = {248},
  pages = {5-20},
  url = {https://www.par.pl/Archiwum/2023/2-2023/Robotyka-techniki-funkcje-rola-spoleczna.-Cz.-3.-Roboty-a-problemy-spoleczne}
}

C. Zieliński

Robotics: Techniques, Functions, Social Role, Part 2: Current Capabilities of Robots (in Polish)

Measurements, Automation, Robotics – Pomiary Automatyka Robotyka (PAR), vol. 27, no. 247, pp. 5–18, Jan. 2023

[ BIB | DOI | URL ]

@article{Zielinski-Robotyka:2023cz2-twiki,
  author = {Zieliński, Cezary},
  title = {{Robotics: Techniques, Functions, Social Role, Part 2: Current Capabilities of Robots (in Polish)}},
  year = {2023},
  journal = {{Measurements, Automation, Robotics -- Pomiary Automatyka Robotyka (PAR)}},
  month = jan,
  doi = {10.14313/PAR_247/5},
  volume = {27},
  number = {247},
  pages = {5--18},
  url = {https://www.par.pl/Archiwum/2023/1-2023/Robotyka-techniki-funkcje-rola-spoleczna-Cz.-2.-Aktualne-mozliwosci-robotow}
}

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

C. Zieliński

Robotics: Techniques, Functions, Social Role, Part 1: Technical Foundations of Intelligence and Security of Robots (in Polish)

Measurements, Automation, Robotics – Pomiary Automatyka Robotyka (PAR), vol. 26, no. 246, pp. 5–26, Apr. 2022

[ BIB | DOI | URL ]

@article{Zielinski-Robotyka:2022cz1-twiki,
  author = {Zieliński, Cezary},
  title = {{Robotics: Techniques, Functions, Social Role, Part 1: Technical Foundations of Intelligence and Security of Robots (in Polish)}},
  year = {2022},
  journal = {{Measurements, Automation, Robotics -- Pomiary Automatyka Robotyka (PAR)}},
  month = apr,
  doi = {10.14313/PAR_246/5},
  volume = {26},
  number = {246},
  pages = {5--26},
  url = {https://www.par.pl/Archiwum/2022/4-2022/Robotyka-techniki-funkcje-rola-spoleczna-Cz.-1.-Techniczne-podstawy-inteligencji-i-bezpieczenstwa-robotow}
}

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}
}

C. Zieliński

Attitude towards knowledge and education in societies of the Chinese cultural sphere (in Polish)

Evolution of the civilizational role and social perception of science: Part. 2, vol. 79, pp. 55–72, 2022

[ BIB ]

@article{zielinski-2022-chinese-cultural-sphere-twiki,
  author = {Zieliński, Cezary},
  title = {Attitude towards knowledge and education in societies of the Chinese cultural sphere (in Polish)},
  booktitle = {Evolution of the civilizational role and social perception of science: Part. 2},
  journal = {Publications of the Mark Dietrich Institute of Contemporary Civilisation Problems},
  volume = {79},
  year = {2022},
  twiki = {},
  pages = {55-72}
}

P. Pałka, C. Zieliński, W. Dudek, D. Seredyński, and W. Szynkiewicz

Communication-Focused Top-Down Design of Robotic Systems Based on Binary Decomposition

Energies, vol. 15, no. 21, p. 7983, 2022

[ BIB ]

@article{palka2022communication-twiki,
  title = {Communication-Focused Top-Down Design of Robotic Systems Based on Binary Decomposition},
  author = {Pałka, Piotr and Zieliński, Cezary and Dudek, Wojciech and Seredyński, Dawid and Szynkiewicz, Wojciech},
  journal = {Energies},
  volume = {15},
  number = {21},
  pages = {7983},
  year = {2022},
  publisher = {MDPI},
  twiki = {article}
}

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.

2021

T. Zielińska, E. Jezierski, K. Kozłowski, P. Szynkarczyk, K. Tchoń, and C. Zieliński

Rozwój robotyki w Polsce

Pomiary, Automatyka, Robotyka (PAR), vol. 25, no. 1, pp. 5–16, 2021

[ BIB ]

@article{zielinski-2020-rozwoj-robotyki-w-polsce-twiki,
  author = {Zielińska, Teresa and Jezierski, Edward and Kozłowski, Krzysztof and Szynkarczyk, Piotr and Tchoń, Krzysztof and Zieliński, Cezary},
  title = {Rozwój robotyki w Polsce},
  journal = {Pomiary, Automatyka, Robotyka (PAR)},
  year = {2021},
  volume = {25},
  pages = {5-16},
  number = {1},
  twiki = {journal},
  note = {Development of robotics in Poland (in Polish)}
}

C. Zieliński

in Automatic Control, Robotics and Information Processing, vol. 296,

P. Kulczycki, J. Korbicz, and J. Kacprzyk, Eds. Springer, 2021, pp. 523–561 [ BIB | DOI ]

@inbook{Zielinski-KAiR-eng:2021-twiki,
  chapter = {Robotic System Design Methodology Utilising Embodied Agents},
  author = {Zieliński, Cezary},
  booktitle = {Automatic Control, Robotics and Information Processing},
  publisher = {Springer},
  editor = {Kulczycki, P. and Korbicz, J. and Kacprzyk, J.},
  series = {Advances in Intelligent Systems and Computing},
  volume = {296},
  year = {2021},
  pages = {523--561},
  twiki = {inbook},
  doi = {10.1007/978-3-030-48587-0\_17}
}

2020

C. Zieliński

Polecane książki: „Wieloagentowe systemy decyzyjne”

Pomiary, Automatyka, Robotyka (PAR), vol. 24, no. 4, p. 98, 2020

[ BIB ]

@article{zielinski-2020-polecane-ksiazki-twiki,
  author = {Zieliński, Cezary},
  title = {Polecane książki: „Wieloagentowe systemy decyzyjne”},
  journal = {Pomiary, Automatyka, Robotyka (PAR)},
  year = {2020},
  volume = {24},
  pages = {98},
  number = {4},
  twiki = {journal},
  note = {Recommended Books: "Multi-agent decision-making systems" (in Polish)}
}

C. Zieliński

Koboty – w przemyśle i laboratoriach badawczych.

Automatyka, vol. 12, pp. 28–40, 2020

[ BIB ]

@article{zielinski-2020-koboty-twiki,
  author = {Zieliński, Cezary},
  title = {Koboty – w przemyśle i laboratoriach badawczych.},
  journal = {Automatyka},
  volume = {12},
  year = {2020},
  twiki = {journal},
  pages = {28--40},
  note = {Cobots - in industry and research labs (in Polish)}
}

C. Zieliński

Specification of Agent Based Robotic Systems Using Hierarchical Finite State Automatons

in Advanced, Contemporary Control, Cham, 2020, pp. 465–476

[ BIB | DOI ]

@inproceedings{zielinski-2020-specification-based-hfsa-twiki,
  author = {Zieliński, Cezary},
  title = {{Specification of Agent Based Robotic Systems Using Hierarchical Finite State Automatons}},
  booktitle = {Advanced, Contemporary Control},
  year = {2020},
  editor = {Bartoszewicz, Andrzej and Kabziński, Jacek and Kacprzyk, Janusz},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  pages = {465--476},
  publisher = {Springer International Publishing},
  address = {Cham},
  doi = {10.1007/978-3-030-50936-1_39},
  twiki = {article}
}

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.
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).

C. Zieliński

Zastosowanie agentów upostaciowionych do projektowania systemów robotycznych

in Automatyka, robotyka i przetwarzanie informacji, 2020, pp. 469–499

[ BIB ]

@inproceedings{Zielinski:2019:PWN,
  author = {Zieliński, Cezary},
  title = {Zastosowanie agentów upostaciowionych do projektowania systemów robotycznych},
  booktitle = {Automatyka, robotyka i przetwarzanie informacji},
  pages = {469--499},
  editor = {P. Kulczycki, J. Korbicz, J. Kacprzyk},
  publisher = {Wydawnictwo Naukowe PWN},
  year = {2020},
  twiki = {inbook},
  note = {Zielinski}
}

T. Kornuta, C. Zieliński, and T. Winiarski
A universal architectural pattern and specification method for robot control system design
Bulletin of the Polish Academy of Sciences: Technical Sciences, vol. 68, no. 1, pp. 3–29, 2020
[ BIB | DOI | abstract | URL ]
```
@article{kornuta-bpan-2020-twiki,
  author = {Kornuta, Tomasz and Zieliński, Cezary and Winiarski, Tomasz},
  journal = {Bulletin of the Polish Academy of Sciences: Technical Sciences},
  title = {A universal architectural pattern and specification method for robot control system design},
  year = {2020},
  number = {1},
  pages = {3-29},
  volume = {68},
  doi = {10.24425/bpasts.2020.131827},
  projects = {GrantMeDeRo,GrantRobREx},
  howpublished = {online},
  keywords = {Autonomous Agents, Control Architectures and Programming, service robots, Range Sensing, Recognition, Grasping},
  twiki = {journal},
  url = {http://journals.pan.pl/Content/115154/PDF/01_03-29_01163_Bpast.No.68-1_28.02.20_K_OK_TeX.pdf}
}
```
The paper presents a universal architectural pattern and an associated specification method that can be applied in the design of robot control systems. The approach describes the system in terms of embodied agents and proposes a multi-step decomposition enabling precise definition of their inner structure and operation. An embodied agent is decomposed into effectors, receptors, both real and virtual, and a control subsystem. Those entities communicate through communication buffers. The activities of those entities are governed by FSMs that invoke behaviours formulated in terms of transition functions taking as arguments the contents of input buffers and producing the values inserted into output buffers. The method is exemplified by applying it to the design of a control system of a robot executing one of the most important tasks for a service robot, i.e. picking up, by a position-force controlled robot, an object located using an RGB-D image acquired from a Kinect. Moreover in order to substantiate the universality of the presented approach we present how classical, known from the literature, robotic architectures can be expressed as systems composed of one or more embodied agents.

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}
}

D. Seredyński, T. Winiarski, and C. Zieliński
FABRIC: Framework for Agent-Based Robot Control Systems
in 12th International Workshop on Robot Motion and Control (RoMoCo), 2019, pp. 215–222
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Seredynski-fabric-romoco-2019-twiki,
  author = {Seredyński, Dawid and Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {12th International Workshop on Robot Motion and Control (RoMoCo)},
  title = {{FABRIC: Framework for Agent-Based Robot Control Systems}},
  year = {2019},
  editor = {K.~Kozłowski},
  organization = {IEEE},
  pages = {215--222},
  conference = {romoco12},
  doi = {10.1109/RoMoCo.2019.8787370},
  projects = {aal-incare},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2019/fabric.pdf}
}
```
The paper presents FABRIC, a framework and a toolchain that facilitates semi-automatic generation of agentbased control systems for robots. The presented approach combines agent-based formal specification with implementation employing component-based frameworks. The input for the generation method consists of the formal specification of the designed control system expressed in a DSL and source code encapsulated in components. Decomposition of a formal specification into a hierarchical structure of patterns and their parameters is employed. It implies a division of the specification into a number of items, produced using a DSL and source code expressed in a universal programming language. The method of generating a working agent-based system, out of its specification and selected components, is verified on a service robot that executes complex tasks, i.e. door opening.

C. Zieliński

General Robotic System Software Design Methodology

in 15th IFToMM World Congress, June 30 – July 4, 2019, Kraków, Poland, 2019

[ BIB ]

@inproceedings{Zielinski:2019:IFToMM,
  author = {Zieliński, Cezary},
  title = {General Robotic System Software Design Methodology},
  booktitle = {15th IFToMM World Congress, June 30 – July 4, 2019, Kraków, Poland},
  year = {2019},
  note = {Zielinski}
}

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

C. Zieliński

Architektury systemów robotycznych tworzone z agentów upostaciowionych

XV Krajowa Konferencja Robotyki - Postępy robotyki, vol. 196, pp. 379–394, 2018

[ BIB ]

@article{Zielinski:kkr2018,
  author = {Zieliński, Cezary},
  booktitle = {XV Krajowa Konferencja Robotyki - Postępy robotyki},
  title = {Architektury systemów robotycznych tworzone z agentów upostaciowionych},
  year = {2018},
  editor = {Tchoń, Krzysztof and Zieliński, Cezary},
  volume = {196},
  series = {Prace Naukowe – Elektronika},
  pages = {379-394},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  conference = {kkr18},
  lang = {pl},
  location = {Polanica Zdrój, 5--9 September 2018},
  twiki = {inbook},
  note = {Robotic System Architectures Based on Embodied Agents (in Polish) - Zielinski}
}

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

E. G. Tsardoulias, A. M. Kintsakis, K. Panayiotou, A. G. Thallas, S. E. Reppou, G. G. Karagiannis, M. Iturburu, S. Arampatzis, C. Zieliński, V. Prunet, F. E. Psomopoulos, A. L. Symeonidis, and P. A. Mitkas
Towards an integrated robotics architecture for social inclusion – The RAPP paradigm
Cognitive Systems Research, vol. 43, pp. 157–173, 2017
[ BIB | DOI | abstract | URL ]
```
@article{Tsardoulias:2017,
  title = {Towards an integrated robotics architecture for social inclusion – The RAPP paradigm},
  journal = {Cognitive Systems Research},
  volume = {43},
  pages = {157 - 173},
  year = {2017},
  issn = {1389-0417},
  doi = {https://doi.org/10.1016/j.cogsys.2016.08.004},
  url = {http://www.sciencedirect.com/science/article/pii/S1389041716300535},
  author = {Tsardoulias, Emmanouil G. and Kintsakis, Athanassios M. and Panayiotou, Konstantinos and Thallas, Aristeidis G. and Reppou, Sofia E. and Karagiannis, George G. and Iturburu, Miren and Arampatzis, Stratos and Zieliński, Cezary and Prunet, Vincent and Psomopoulos, Fotis E. and Symeonidis, Andreas L. and Mitkas, Pericles A.},
  keywords = {Robotic applications, Cloud robotics, Robotic architectures, Assistance robotics, Social robotics},
  note = {Zielinski}
}
```
Scientific breakthroughs have led to an increase in life expectancy, to the point where senior citizens comprise an ever increasing percentage of the general population. In this direction, the EU funded RAPP project “Robotic Applications for Delivering Smart User Empowering Applications” introduces socially interactive robots that will not only physically assist, but also serve as a companion to senior citizens. The proposed RAPP framework has been designed aiming towards a cloud-based integrated approach that enables robotic devices to seamlessly deploy robotic applications, relieving the actual robots from computational burdens. The Robotic Applications (RApps) developed according to the RAPP paradigm will empower consumer social robots, allowing them to adapt to versatile situations and materialize complex behaviors and scenarios. The RAPP pilot cases involve the development of RApps for the NAO humanoid robot and the ANG-MED rollator targeting senior citizens that (a) are technology illiterate, (b) have been diagnosed with mild cognitive impairment or (c) are in the process of hip fracture rehabilitation. Initial results establish the robustness of RAPP in addressing the needs of end users and developers, as well as its contribution in significantly increasing the quality of life of senior citizens.
K. Sagar, L. de Leonardo, R. Molfino, T. Zielińska, C. Zieliński, D. Zlatanov, and M. Zoppi
The SwarmItFix Pilot
Procedia Manufacturing, vol. 11, pp. 413–422, 2017
[ BIB | DOI | abstract | URL ]
```
@article{Sagar:2017,
  title = {The SwarmItFix Pilot},
  journal = {Procedia Manufacturing},
  volume = {11},
  pages = {413 - 422},
  year = {2017},
  issn = {2351-9789},
  doi = {https://doi.org/10.1016/j.promfg.2017.07.128},
  url = {http://www.sciencedirect.com/science/article/pii/S2351978917303323},
  author = {Sagar, Keerthi and de Leonardo, Luis and Molfino, Rezia and Zielińska, Teresa and Zieliński, Cezary and Zlatanov, Dimiter and Zoppi, Matteo},
  keywords = {Flexible Automation, Manufacturing, Reconfigurable Fixtures, Multi-Agent systems},
  note = {27th International Conference on Flexible Automation and Intelligent Manufacturing, FAIM2017, 27-30 June 2017, Modena, Italy - Zielinski}
}
```
The paper presents the integration and experiments with a pilot cell including a traditional machine tool and an innovative robot-swarm cooperative conformable support for aircraft body panels. The pilot was installed and tested in the premises of the aircraft manufacturer Piaggio Aerospace in Italy. An original approach to the support of the panels is realized: robots with soft heads operate from below the panel; they move upward the panel where manufacturing is performed, removing the sagging under gravity and returning it to its nominal geometry; the spindle of amilling machine performs the machining from above.
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, T. Winiarski, and T. Kornuta

Agent-Based Structures of Robot Systems

in Trends in Advanced Intelligent Control, Optimization and Automation, 2017, vol. 577, pp. 493–502

[ BIB | DOI | URL ]

@inproceedings{zielinski-kka:2017-twiki,
  author = {Zieliński, Cezary and Winiarski, Tomasz and Kornuta, Tomasz},
  title = {Agent-Based Structures of Robot Systems},
  booktitle = {Trends in Advanced Intelligent Control, Optimization and Automation},
  year = {2017},
  editor = {J., Kacprzyk and et al.},
  volume = {577},
  series = {Advances in Intelligent Systems and Computing},
  pages = {493--502},
  doi = {10.1007/978-3-319-60699-6\_48},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2017/17-rss-kka.pdf},
  note = {Zielinski}
}

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

X. He, C. Zieliński, S. Davy, and L. Shi
A Constrained Guess-Check Approach for Resource Allocation in the Robot Control System Design
in Advances in Reconfigurable Mechanisms and Robots II, Cham, 2016, pp. 913–925
[ BIB | DOI | abstract ]
```
@inproceedings{He:2016,
  author = {He, Xingyun and Zieliński, Cezary and Davy, Steven and Shi, Lei},
  editor = {Ding, Xilun and Kong, Xianwen and Dai, Jian S.},
  title = {A Constrained Guess-Check Approach for Resource Allocation in the Robot Control System Design},
  booktitle = {Advances in Reconfigurable Mechanisms and Robots II},
  year = {2016},
  publisher = {Springer International Publishing},
  address = {Cham},
  pages = {913--925},
  isbn = {978-3-319-23327-7},
  doi = {https://doi.org/10.1007/978-3-319-23327-7_78},
  note = {Zielinski}
}
```
Nowadays robots are applied in many diversified industry fields, and even in our daily life. The structure of robots becomes more and more sophisticated, so designing and building such robots is not easy due to the growing complexity of the control systems structure. Therefore, many researchers focus on robot programming frameworks in order to simplify the process of designing and building robots. However, how to assemble agents, tasks and resources when building a robot is an important problem demanding efficient solution in the robot programming frameworks. In this paper, we present an approach, which can allocate the tasks of a robot to each agent according to the computational ability of agents, the execution time of tasks, and certain constraints, and can help manage all the resources (i.e., effectors and receptors) in the way which gives the structure with the least number of connections between agents. The allocation is proved to be Pareto Optimal.
S. E. Reppou, E. G. Tsardoulias, A. M. Kintsakis, A. L. Symeonidis, P. A. Mitkas, F. E. Psomopoulos, G. T. Karagiannis, C. Zieliński, V. Prunet, J.-P. Merlet, M. Iturburu, and A. Gkiokas
RAPP: A Robotic-Oriented Ecosystem for Delivering Smart User Empowering Applications for Older People
International Journal of Social Robotics, vol. 8, no. 4, pp. 539–552, Aug. 2016
[ BIB | DOI | abstract | URL ]
```
@article{Reppou:2016,
  author = {Reppou, Sofia E. and Tsardoulias, Emmanouil G. and Kintsakis, Athanassios M. and Symeonidis, Andreas L. and Mitkas, Pericles A. and Psomopoulos, Fotis E. and Karagiannis, George T. and Zieliński, Cezary and Prunet, Vincent and Merlet, Jean-Pierre and Iturburu, Miren and Gkiokas, Alexandros},
  title = {RAPP: A Robotic-Oriented Ecosystem for Delivering Smart User Empowering Applications for Older People},
  journal = {International Journal of Social Robotics},
  year = {2016},
  month = aug,
  day = {01},
  volume = {8},
  number = {4},
  pages = {539--552},
  issn = {1875-4805},
  doi = {10.1007/s12369-016-0361-z},
  url = {https://doi.org/10.1007/s12369-016-0361-z},
  note = {Zielinski}
}
```
It is a general truth that increase of age is associated with a level of mental and physical decline but unfortunately the former are often accompanied by social exclusion leading to marginalization and eventually further acceleration of the aging process. A new approach in alleviating the social exclusion of older people involves the use of assistive robots. As robots rapidly invade everyday life, the need of new software paradigms in order to address the user’s unique needs becomes critical. In this paper we present a novel architectural design, the RAPP [a software platform to deliver smart, user empowering robotic applications (RApps)] framework that attempts to address this issue. The proposed framework has been designed in a cloud-based approach, integrating robotic devices and their respective applications. We aim to facilitate seamless development of RApps compatible with a wide range of supported robots and available to the public through a unified online store.
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.

M. Walęcki and C. Zieliński

Prediction-Based Visual Servo Control

in Recent Advances in Automation, Robotics and Measuring Techniques, 2016, vol. 440, pp. 693–704

[ BIB | DOI | URL ]

@inproceedings{walecki:2016-automation-twiki,
  author = {Walęcki, Michał and Zieliński, Cezary},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  title = {{Prediction-Based Visual Servo Control}},
  year = {2016},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  note = {Zielinski},
  pages = {693-704},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  volume = {440},
  doi = {10.1007/978-3-319-29357-8_60},
  projects = {GrantRobREx},
  owner = {tkornut},
  timestamp = {2015.10.30},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/automation-visual_servo.pdf},
  zadanie = {pw12}
}

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.

C. Zieliński and T. Kornuta

Programowe struktury ramowe do tworzenia sterowników robotów

Pomiary – Automatyka – Robotyka PAR, vol. 19, no. 1, pp. 5–14, 2015

[ BIB | DOI ]

@article{Zielinski:2014_par_struktury_ramowe,
  author = {Zieliński, Cezary and Kornuta, Tomasz},
  journal = {Pomiary -- Automatyka -- Robotyka PAR},
  title = {{Programowe struktury ramowe do tworzenia sterowników robotów}},
  year = {2015},
  note = {Programming frameworks for development of robot controllers - Zielinski},
  number = {1},
  pages = {5-14},
  volume = {19},
  doi = {10.14313/PAR_215/5},
  owner = {tkornuta},
  timestamp = {2014.12.04},
  twiki = {journal}
}

C. Zieliński and T. Kornuta

An Object-Based Robot Ontology

in Proceedings of the 7th IEEE International Conference Intelligent Systems IS’2014, 2015, vol. 323, no. 3-14

[ BIB | DOI | URL ]

@inproceedings{Zielinski:2014_IS_ontology-twiki,
  author = {Zieliński, Cezary and Kornuta, Tomasz},
  booktitle = {Proceedings of the 7th IEEE International Conference Intelligent Systems IS’2014},
  title = {An Object-Based Robot Ontology},
  year = {2015},
  editor = {Filev, D. and Jabłkowski, J. and Kacprzyk, J. and Krawczak, M. and Popchev, I. and Rutkowski, L. and Sgurev, V. and Sotirova, E. and Szynkarczyk, P. and Zadrozny, S.},
  volume = {323},
  number = {3-14},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  publisher = {Springer},
  doi = {10.1007/978-3-319-11310-4_1},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/IS-14-object-relations_v1.pdf},
  projects = {GrantRobREx},
  isbn = {978-3-319-11309-8},
  owner = {tkornuta},
  timestamp = {2014.05.28},
  twiki = {inbook},
  zadanie = {pw11},
  note = {Zielinski}
}

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}
}

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}
}

D. Seredyński, T. Winiarski, K. Banachowicz, and C. Zieliński
Grasp planning taking into account the external wrenches acting on the grasped object
in 10th International Workshop on Robot Motion and Control (RoMoCo), 2015, pp. 40–45
[ BIB | DOI | abstract | URL | VIDEO ]
```
@inproceedings{seredynski2015grasp-twiki,
  author = {Seredyński, Dawid and Winiarski, Tomasz and Banachowicz, Konrad and Zieliński, Cezary},
  booktitle = {10th International Workshop on Robot Motion and Control (RoMoCo)},
  title = {Grasp planning taking into account the external wrenches acting on the grasped object},
  year = {2015},
  editor = {K.~Kozłowski},
  pages = {40--45},
  organization = {IEEE},
  doi = {10.1109/RoMoCo.2015.7219711},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2015/grasping-romoco-2015.pdf},
  conference = {romoco15},
  projects = {GrantRobREx},
  twiki = {article},
  zadanie = {pw11},
  video = {https://vimeo.com/125795676},
  note = {Zielinski}
}
```
The paper presents an outline of the specification of a robot controller used in manipulation tasks requiring object grasping by a multi-fingered gripper and interaction with the environment. The specification assumes that the robot is represented as an embodied agent composed of real and virtual effectors and receptors and the control subsystem. The actions of those subsystems are defined by finite state machines invoking in each of their states appropriate behaviours. The presentation focuses on grasp planning and execution.
T. Kornuta, T. Winiarski, and C. Zieliński
Specification of abstract robot skills in terms of control system behaviours
in Progress in Automation, Robotics and Measuring Techniques. Vol. 2 Robotics., 2015, vol. 351, pp. 139–152
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Kornuta:2015_Automation_grasping-twiki,
  author = {Kornuta, Tomasz and Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {Progress in Automation, Robotics and Measuring Techniques. Vol. 2 Robotics.},
  title = {{Specification of abstract robot skills in terms of control system behaviours}},
  year = {2015},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  note = {Zielinski},
  pages = {139--152},
  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_14},
  projects = {GrantMeDeRo},
  owner = {tkornuta},
  timestamp = {2014.12.10},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2015/14-grasp-skill-specification.pdf}
}
```
Robotic systems possess diverse effectors and receptors influencing their capabilities. For this reason description of robot tasks in a human-understandable form, being strict and abstracting the hardware limitations at the one hand, yet enabling straightforward transformation into robot actions at the other, has been elusive. Herein we propose a method of specification of tasks in terms of abstract object-level relations. This approach imposes the introduction of manipulation primitives modifying those relations by influencing object parameters. To narrow the scope of research in this paper we focus on one of the most elementary robot skills: grasping. We decompose the robot control system using the embodied agent-based methodology, define a set of required behaviours and express the skill as a sequence of those behaviours. To enable the future automatic translation from specification to code, we developed a formal specification of the introduced concepts.
T. Kornuta and C. Zieliński
Robot control system design exemplified by multi-camera visual servoing
Journal of Intelligent & Robotic Systems, vol. 77, no. 3–4, pp. 499–524, 2015
[ BIB | DOI | abstract ]
```
@article{Kornuta:13_irs-twiki,
  author = {Kornuta, Tomasz and Zieliński, Cezary},
  title = {Robot control system design exemplified by multi-camera visual servoing},
  journal = {Journal of Intelligent \& Robotic Systems},
  year = {2015},
  volume = {77},
  number = {3--4},
  pages = {499--524},
  doi = {10.1007/s10846-013-9883-x},
  projects = {NCN2012Kornuta},
  lang = {en},
  owner = {tkornuta},
  timestamp = {2013.05.16},
  twiki = {jcr},
  note = {Zielinski}
}
```
The article investigates the problem of designing robot control systems. It starts with a brief overview of general control architectures, followed by the presentation of the design methodology based on the concept of an embodied agent. Multi-level decomposition of system structure enables the formulation of the operation of each of the resulting subsystems in terms of transition functions, specifying their state evolution. The paper also introduces mathematical and graphical notations, complementing each other, defining formally the control system behaviour. As an example the specification of a control system of a robot utilizing multi-camera visual servoing for object following is presented.

M. Janiak and C. Zieliński

Control System Architecture for the Investigation of Motion Control Algorithms on an Example of the Mobile Platform Rex

Bulletin of the Polish Academy of Sciences – Technical Sciences, vol. 63, no. 3, pp. 667–678, 2015

[ BIB | DOI | URL ]

@article{JaniakCZ:2015-twiki,
  author = {Janiak, Mariusz and Zieliński, Cezary},
  title = {Control System Architecture for the Investigation of Motion Control Algorithms on an Example of the Mobile Platform Rex},
  journal = {Bulletin of the Polish Academy of Sciences -- Technical Sciences},
  year = {2015},
  volume = {63},
  number = {3},
  pages = {667--678},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2015/bpasts-2015-0078.pdf},
  doi = {10.1515/bpasts-2015-0078},
  projects = {GrantRobREx},
  owner = {tkornuta},
  timestamp = {2014.11.27},
  twiki = {jcr},
  zadanie = {pw11},
  note = {Zielinski}
}

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. Zielińska, W. Kasprzak, W. Szynkiewicz, and C. Zieliński

Path Planning for Robotized Mobile Supports

Journal of Mechanism and Machine Theory, vol. 78, pp. 51–64, 2014

[ BIB | DOI ]

@article{zielinska:2014_path,
  author = {Zielińska, Teresa and Kasprzak, Włodzimierz and Szynkiewicz, Wojciech and Zieliński, Cezary},
  title = {Path Planning for Robotized Mobile Supports},
  journal = {Journal of Mechanism and Machine Theory},
  year = {2014},
  volume = {78},
  pages = {51--64},
  doi = {https://doi.org/10.1016/j.mechmachtheory.2014.03.004},
  note = {Zielinski}
}

C. Zieliński and T. Kornuta

Specification of Tasks in Terms of Object-Level Relations for a Two-Handed Robot

in Recent Advances in Automation, Robotics and Measuring Techniques, Cham, 2014, pp. 543–552

[ BIB | DOI ]

@inproceedings{zielinski:2014_specification_tasks,
  author = {Zieliński, Cezary and Kornuta, Tomasz},
  editor = {Szewczyk, Roman and Zieli{\'{n}}ski, Cezary and Kaliczy{\'{n}}ska, Ma{\l}gorzata},
  title = {Specification of Tasks in Terms of Object-Level Relations for a Two-Handed Robot},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  year = {2014},
  publisher = {Springer International Publishing},
  address = {Cham},
  pages = {543--552},
  isbn = {978-3-319-05353-0},
  doi = {https://doi.org/10.1007/978-3-319-05353-0_51},
  note = {Zielinski}
}

W. Kasprzak, T. Kornuta, and C. Zieliński

A Virtual Receptor in a Robot Control Framework

in Recent Advances in Automation, Robotics and Measuring Techniques, Cham, 2014, pp. 399–408

[ BIB | DOI ]

@inproceedings{kasprzak:2014_vr,
  author = {Kasprzak, Włodzimierz and Kornuta, Tomasz and Zieliński, Cezary},
  editor = {Szewczyk, Roman and Zieli{\'{n}}ski, Cezary and Kaliczy{\'{n}}ska, Ma{\l}gorzata},
  title = {A Virtual Receptor in a Robot Control Framework},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  year = {2014},
  publisher = {Springer International Publishing},
  address = {Cham},
  pages = {399--408},
  isbn = {978-3-319-05353-0},
  doi = {https://doi.org/10.1007/978-3-319-05353-0_38},
  note = {Zielinski}
}

M. Janiak and C. Zieliński

Platforma mobilna Rex – struktura układu sterowania)

in XIII Krajowa Konferencja Robotyki. Kudowa Zdrój, 2014, vol. 194, no. 1, pp. 45–54

[ BIB ]

@inproceedings{Janiak:2014_kkr_rex,
  author = {Janiak, Mariusz and Zieliński, Cezary},
  title = {Platforma mobilna Rex – struktura układu sterowania)},
  booktitle = {XIII Krajowa Konferencja Robotyki. Kudowa Zdrój},
  year = {2014},
  editor = {Tchoń, K. and Zieliński, C.},
  volume = {194},
  number = {1},
  series = {Postępy robotyki. Prace Naukowe – Elektronika},
  pages = {45--54},
  note = {Zielinski}
}

C. Zieliński and T. Kornuta

Ontologia na potrzeby sterowania robotem usługowym

Prace Naukowe Politechniki Warszawskiej. Elektronika, vol. z. 194, t. 2, pp. 493–502, 2014

[ BIB ]

@article{zielinski:2014_ontologia,
  author = {Zieliński, Cezary and Kornuta, Tomasz},
  title = {Ontologia na potrzeby sterowania robotem usługowym},
  journal = {Prace Naukowe Politechniki Warszawskiej. Elektronika},
  volume = {z. 194, t. 2},
  year = {2014},
  pages = {493--502},
  note = {Zielinski}
}

T. Zielińska, W. Kasprzak, C. Zieliński, and W. Szynkiewicz
Distributing the Supporting Heads for Robotized Machining
in Advances on Theory and Practice of Robots and Manipulators, Cham, 2014, pp. 509–517
[ BIB | DOI | abstract ]
```
@inproceedings{zielinska:2014,
  author = {Zielińska, Teresa and Kasprzak, Włodzimierz and Zieliński, Cezary and Szynkiewicz, Wojciech},
  editor = {Ceccarelli, Marco and Glazunov, Victor A.},
  title = {Distributing the Supporting Heads for Robotized Machining},
  booktitle = {Advances on Theory and Practice of Robots and Manipulators},
  year = {2014},
  publisher = {Springer International Publishing},
  address = {Cham},
  pages = {509--517},
  isbn = {978-3-319-07058-2},
  doi = {https://doi.org/10.1007/978-3-319-07058-2_57},
  note = {Zielinski}
}
```
The paper presents a method of placement for the movable supporting heads of a self-reconfigurable robotic fixture system. The whole system consists of two mobile platforms carrying parallel type manipulators equipped with deformable heads. The heads are providing the dynamic support for large flexible workpieces during machining. The two heads consecutively relocate and affix themselves to the supported thin metal sheet, so that one of them supports the workpiece while the other relocates itself in such a way as to precede the working tool. The method for heads positioning for circular contours is presented. Formulas are derived and the results are summarized.
C. Zieliński, T. Kornuta, and T. Winiarski
A Systematic Method of Designing Control Systems for Service and Field Robots
in 19-th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2014, 2014, pp. 1–14
[ BIB | DOI | abstract | URL ]
```
@inproceedings{ZielinskiMMAR2014-twiki,
  author = {Zieliński, Cezary and Kornuta, Tomasz and Winiarski, Tomasz},
  booktitle = {19-th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2014},
  title = {A~Systematic Method of Designing Control Systems for Service and Field Robots},
  year = {2014},
  pages = {1-14},
  publisher = {IEEE},
  doi = {10.1109/MMAR.2014.6957317},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/robot-control-system-design.pdf},
  projects = {GrantRobREx},
  owner = {tkornuta},
  timestamp = {2014.07.17},
  twiki = {article},
  note = {Zielinski}
}
```
The paper presents a systematic approach to robot control system design. The robot is treated as an embodied agent decomposed into effectors, receptors, both real and virtual, and a control subsystem. Those entities communicate through communication buffers. The activities of those entities are governed by FSMs that invoke behaviours formulated in terms of transition functions taking as arguments the contents of input buffers and producing the values inserted into output buffers. The method is exemplified by applying it to a design of a control system of a robot capable of locating an open box and covering it with a lid. Other systems that have been designed in a similar way are presented as well, to demonstrate the versatility of the approach.
C. Zieliński and T. Kornuta
Diagnostic Requirements in Multi-robot Systems
in Intelligent Systems in Technical and Medical Diagnostics, vol. 230,
Springer, 2014, pp. 345–356 [ BIB | DOI | abstract | URL ]
```
@incollection{zielinski2014diagnostic,
  author = {Zieliński, Cezary and Kornuta, Tomasz},
  title = {Diagnostic Requirements in Multi-robot Systems},
  booktitle = {Intelligent Systems in Technical and Medical Diagnostics},
  publisher = {Springer},
  year = {2014},
  volume = {230},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  pages = {345--356},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/2014_dps_diagnostics.pdf},
  doi = {10.1007/978-3-642-39881-0_29},
  projects = {GrantMeDeRo},
  isbn = {978-3-642-39880-3},
  owner = {tkornuta},
  timestamp = {2013.10.03},
  twiki = {inbook},
  note = {Zielinski}
}
```
The paper presents a generic robot control architecture facilitating the collection of data for the purpose of diagnostics. Each robot within the system is treated as an embodied agent composed of effectors, receptors and a control system. Its behaviour is described in terms of transition functions and: initial, terminal and error conditions. Data within such systems can be collected at the control system sampling rate, thus both continuous monitoring and event driven one are possible.

C. Zieliński and T. Kornuta

Ontologia na potrzeby sterowania robotem usługowym

in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 194, no. 1, pp. 493–502

[ BIB | URL ]

@inproceedings{Zielinski:2014_kkr_relacje-twiki,
  author = {Zieliński, Cezary and Kornuta, Tomasz},
  booktitle = {XIII Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Ontologia na potrzeby sterowania robotem usługowym}},
  year = {2014},
  editor = {Tchoń, K. and Zieliński, Cezary},
  note = {Ontology for the purpose of control of a service robot - Zielinski},
  number = {1},
  pages = {493-502},
  volume = {194},
  conference = {kkr13},
  projects = {GrantRobREx},
  lang = {pl},
  owner = {tkornuta},
  timestamp = {2014.02.11},
  twiki = {inbook},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/2014_kkr_obiekty-relacje.pdf},
  zadanie = {pw11}
}

C. Zieliński and T. Kornuta

Specification of Tasks in Terms of Object-level Relations for a Two-handed Robot

in Recent Advances in Automation, Robotics and Measuring Techniques, 2014, vol. 267, pp. 543–552

[ BIB | URL ]

@inproceedings{Zielinski:2014_automation_specification-twiki,
  author = {Zieliński, Cezary and Kornuta, Tomasz},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  title = {Specification of Tasks in Terms of Object-level Relations for a~Two-handed Robot},
  year = {2014},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  volume = {267},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  pages = {543-552},
  publisher = {Springer},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/2014_automation_HLTaskSpec.pdf},
  projects = {GrantRobREx},
  owner = {tkornuta},
  timestamp = {2014.01.25},
  twiki = {inbook},
  zadanie = {pw11},
  note = {Zielinski}
}

M. Walęcki, K. Banachowicz, M. Stefańczyk, T. Winiarski, R. Chojecki, and C. Zieliński
Korpus robota usługowego Velma
in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 1, pp. 5–14
[ BIB | abstract | URL ]
```
@inproceedings{Walecki:2014_kkr_korpus-twiki,
  author = {Walęcki, Michał and Banachowicz, Konrad and Stefańczyk, Maciej and Winiarski, Tomasz and Chojecki, Rafał and Zieliński, Cezary},
  booktitle = {XIII Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Korpus robota usługowego Velma}},
  year = {2014},
  note = {Zielinski},
  pages = {5--14},
  volume = {1},
  conference = {kkr13},
  projects = {GrantRobREx},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/velma-korpus-kkr13.pdf},
  zadanie = {pw11}
}
```
Dwuręczny robot Velma jest wykorzystywany w badaniach z dziedziny robotyki usługowej, prowadzonych w Zespole Programowania Robotów i Systemów Rozpoznających Politechniki Warszawskiej. Niniejszy artykuł opisuje poszukiwanie koncepcji zwiększenia przestrzeni roboczej manipulatorów robota oraz jego przebudowę. Wyposażenie robota Velma w korpus o dwóch stopniach swobody rozszerzyło jego możliwości manipulacyjne, umożliwiając m.in. jego wykorzystanie w zadaniach związanych z otwieraniem pełnowymiarowego skrzydła drzwi wejściowych oraz manipulowanie obiektami leżącymi na stole. Dodanie obrotu korpusu do struktury robota sterowanego momentowo otworzyło nowe możliwości w badaniach nad wykorzystaniem sterowania impedancyjnego w robotyce usługowej.
D. Seredyński, T. Winiarski, K. Banachowicz, and C. Zieliński
Sterownik chwytaka trójpalczastego
in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 1, pp. 15–24
[ BIB | abstract | URL ]
```
@inproceedings{Seredynski:2014_kkr_chwytak-twiki,
  author = {Seredyński, Dawid and Winiarski, Tomasz and Banachowicz, Konrad and Zieliński, Cezary},
  booktitle = {XIII Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Sterownik chwytaka trójpalczastego}},
  year = {2014},
  note = {Zielinski},
  pages = {15--24},
  volume = {1},
  conference = {kkr13},
  projects = {GrantRobREx},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/barrett-kkr13.pdf},
  zadanie = {pw11}
}
```
Praca przedstawia specyfikację i implementację układu sterowania chwytakiem trójpalczastym BarrettHand. Opis struktury układu sterowania wykorzystuje podział agenta upostaciowionego na podsystem sterowania, odpowiedzialny za realizacje zadania, oraz efektor wirtualny, który odpowiedzialny jest za bezpośrednie sterowanie sprzętem. Działanie wirtualnego efektora opisuje automat skończony, z którego stanami skojarzono zachowania, które z kolei zdefiniowano za pomocą funkcji przejść określonych na argumentach stanowiących bufory wejściowe tego modułu. Opisano również wstępne eksperymenty związane ze sterowaniem chwytaka, wskazujące na brak stabilności termicznej odczytów ze sztucznej skóry. W związku z tym wprowadzono okresową kalibrację.

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}
}

T. Kornuta, C. Zieliński, and T. Winiarski
Ontologia robotów manipulacyjnych cz. II: środowisko
in Aktualne Problemy Automatyki i Robotyki, 2014, vol. 20, pp. 332–341
[ BIB | abstract | URL ]
```
@inproceedings{Kornuta:2014_kka_ontologia2-twiki,
  author = {Kornuta, Tomasz and Zieliński, Cezary and Winiarski, Tomasz},
  booktitle = {Aktualne Problemy Automatyki i Robotyki},
  title = {{Ontologia robotów manipulacyjnych cz. II: środowisko}},
  year = {2014},
  editor = {Mianowski, Krzysztof and Józefczyk, Jerzy and Świątek, Jerzy},
  note = {Ontology for manipulation robots. Part 2: the environment - Zielinski},
  pages = {332--341},
  publisher = {EXIT},
  series = {Monografie Komitetu Automatyki i Robotyki Polskiej Akademii Nauk},
  volume = {20},
  conference = {kka13},
  projects = {GrantRobREx},
  lang = {pl},
  owner = {tkornuta},
  timestamp = {2014.05.28},
  twiki = {inbook},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/2014_kka_ontologia-cz2.pdf},
  zadanie = {pw11}
}
```
Zadania, które człowiek zleca robotom, a w szczególności te manipulacyjne, muszą być wyrażane za pomocą pojęć związanych ze środowiskami bytowania ludzi. Ontologię stanowi zestaw pojęć (kategorii), ich konkretnych przykładów oraz relacji między tymi pojęciami. Aby zadanie sformułowane za pomocą tworów występujących w zdefiniowanej ontologii można było wyrazić jako czynności, które robot jest w stanie wykonać, także pojęcia związane z robotem muszą być reprezentowane w ontologii. Ta dwuczęściowa praca przedstawia propozycję takiej ontologii. Część I koncentrowała się na robocie, podczas gdy część II na jego środowisku. Pojęcia występujące w ontologii zostały tak dobrane, aby opis zadania w kategoriach relacji między obiektami znajdującymi się w środowisku, był łatwy w transformacji na zestaw podstawowych czynności realizowanych przez robota. Aby umożliwić w przyszłości automatyczną translację, zastosowano formalną specyfikację użytych pojęć.
T. Kornuta, T. Winiarski, and C. Zieliński
Ontologia robotów manipulacyjnych cz. I: robot
in Aktualne Problemy Automatyki i Robotyki, 2014, vol. 20, pp. 320–331
[ BIB | abstract | URL ]
```
@inproceedings{Kornuta:2014_kka_ontologia1-twiki,
  author = {Kornuta, Tomasz and Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {Aktualne Problemy Automatyki i Robotyki},
  title = {{Ontologia robotów manipulacyjnych cz. I: robot}},
  year = {2014},
  editor = {Mianowski, Krzysztof and Józefczyk, Jerzy and Świątek, Jerzy},
  note = {Ontology for manipulation robots. Part 1: the robot - Zielinski},
  pages = {320--331},
  publisher = {EXIT},
  series = {Monografie Komitetu Automatyki i Robotyki Polskiej Akademii Nauk},
  volume = {20},
  conference = {kka13},
  projects = {GrantRobREx},
  lang = {pl},
  owner = {tkornuta},
  timestamp = {2014.05.28},
  twiki = {inbook},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/2014_kka_ontologia-cz1.pdf},
  zadanie = {pw11}
}
```
Roboty usługowe operują w tym samym środowisku, w którym bytują ludzie. W związku z tym, zadania, które człowiek zleca robotom do wykonania, a w szczególności te wymagające manipulacji, muszą być wyrażane za pomocą pojęć występujących w tego typu złożonych środowiskach. Zestaw tych pojęć (kategorii), ich konkretnych przykładów oraz relacji między tymi pojęciami stanowi ontologię. Aby zadanie sformułowane za pomocą pojęć występujących w zdefiniowanej ontologii można było wyrazić w kategoriach podstawowych czynności, które robot jest w stanie wykonać, także pojęcia związane z robotem muszą być reprezentowane w tej ontologii. Ta dwuczęściowa praca przedstawia propozycję takiej ontologii. Część I koncentruje się na robocie, podczas gdy część II na środowisku robota. Pojęcia występujące w ontologii zostały tak dobrane, aby opis zadania w kategoriach relacji między obiektami znajdującymi się w środowisku, był łatwy w transformacji na zestaw podstawowych czynności realizowanych przez robota. Aby umożliwić w przyszłości automatyczną translację, zastosowano formalną specyfikację użytych pojęć.

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}
}

W. Kasprzak, T. Kornuta, and C. Zieliński

A virtual receptor in a robot control framework

in Recent Advances in Automation, Robotics and Measuring Techniques, 2014, vol. 267, pp. 399–408

[ BIB | URL ]

@inproceedings{Kasprzak:2014_automation_virtual_receptor-twiki,
  author = {Kasprzak, Włodzimierz and Kornuta, Tomasz and Zieliński, Cezary},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  title = {A virtual receptor in a~robot control framework},
  year = {2014},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  volume = {267},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  pages = {399-408},
  publisher = {Springer},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/2014_automation_virtual-receptor.pdf},
  projects = {GrantRobREx},
  owner = {tkornuta},
  timestamp = {2014.01.25},
  twiki = {inbook},
  zadanie = {pw12},
  note = {Zielinski}
}

M. Janiak and C. Zieliński

Platforma mobilna Rex – struktura układu sterowania

in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2014, vol. 194, no. 1, pp. 45–54

[ BIB | URL ]

@inproceedings{Janiak:2014_kkr_rex-twiki,
  author = {Janiak, Mariusz and Zieliński, Cezary},
  booktitle = {XIII Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Platforma mobilna Rex – struktura układu sterowania}},
  year = {2014},
  editor = {Tchoń, K. and Zieliński, Cezary},
  note = {Mobile Platform Rex -- Control System Architecture (in Polish) - Zielinski},
  number = {1},
  pages = {45-54},
  volume = {194},
  conference = {kkr13},
  projects = {GrantRobREx},
  lang = {pl},
  owner = {tkornuta},
  timestamp = {2014.12.02},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2014/mj_cz_kkr2014.pdf},
  zadanie = {pw11}
}

2013

C. Zieliński, P. Trojanek, T. Kornuta, T. Winiarski, M. Walęcki, W. Kasprzak, W. Szynkiewicz, and T. Zielińska
Wielorobotowa rekonfigurowalna forma mocująca obrabiane detale – program sterujący
Pomiary Automatyka Robotyka, no. 3, pp. 96–102, 2013
[ BIB | abstract | URL ]
```
@article{zielinski-swarm-par-13-p2-eng-twiki,
  author = {Zieliński, Cezary and Trojanek, Piotr and Kornuta, Tomasz and Winiarski, Tomasz and Walęcki, Michał and Kasprzak, Włodzimierz and Szynkiewicz, Wojciech and Zielińska, T.},
  journal = {Pomiary Automatyka Robotyka},
  title = {{Wielorobotowa rekonfigurowalna forma mocująca obrabiane detale – program sterujący}},
  year = {2013},
  note = {Multi-Robot-Based Reconfigurable Fixture - Plan Generation - Zielinski},
  number = {3},
  pages = {96--102},
  projects = {fp7swarm},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/par-swarm-12-cz2.pdf}
}
```
Formy mocujące muszą być idealnie dopasowane do detali, które mają podpierać. Nawet mała modyfikacja kształtu w projekcie detalu powoduje, że kosztowna forma staje się bezużyteczna. Stąd duże zainteresowanie przemysłu formami rekonfigurowalnymi. Zastąpienie tradycyjnych form przez wiele robotów stanowiących ruchome podpory wymaga zaprojektowania specjalnego układu sterowania takim systemem oraz dedykowanej metody programowania umożliwiającej szybką rekonfigurację tego systemu. W pierwszej części artykułu przedstawiono problemy związane z konstrukcją form podpierających oraz zaprezentowano strukturę układu sterowania systemu wielorobotowego, natomiast w części drugiej skoncentrowano się na programie planującym działania poszczególnych robotów. Artykuł przedstawia sposób programowania rekonfigurowalnej formy. Programowanie w tym przypadku polega na zaplanowaniu czynności wykonywanych przez roboty podpierające. Plan układany jest automatycznie z wykorzystaniem sposobu rozwiązywania problemów wymagających spełnienia ograniczeń. Program planujący bierze pod uwagę ograniczenia fizyczne, geometryczne oraz te związane z upływem czasu. Dane wejściowe dla programu planującego są tożsame z rysunkami CAD detali oraz dane CAM sposobu ich obróbki. Na podstawie tych danych powstaje plan rozstawienia głowic, ruchów manipulatorów oraz translokacji baz mobilnych. Układ sterowania na podstawie otrzymanego planu steruje zachowaniem robotów, umożliwiając maszynie CNC wiercenie otworów bądź frezowanie. Eksperymenty przeprowadzone w fabryce wykazały, że zaprojektowany system usztywnia detal na tyle, aby wynik obróbki mechanicznej był zadowalający. Jeżeli liczba różnych detali podlegających obróbce jest znaczna, to zaprojektowany system stanowi względnie tanią alternatywę dla wytworzenia i późniejszego magazynowania wielu form.
C. Zieliński, P. Trojanek, T. Kornuta, T. Winiarski, M. Walęcki, W. Kasprzak, W. Szynkiewicz, and T. Zielińska
Wielorobotowa rekonfigurowalna forma mocująca obrabiane detale – układ sterowania
Pomiary Automatyka Robotyka, no. 2, pp. 79–85, 2013
[ BIB | abstract | URL ]
```
@article{zielinski-swarm-par-13-p1-eng-twiki,
  author = {Zieliński, Cezary and Trojanek, Piotr and Kornuta, Tomasz and Winiarski, Tomasz and Walęcki, Michał and Kasprzak, Włodzimierz and Szynkiewicz, Wojciech and Zielińska, T.},
  journal = {Pomiary Automatyka Robotyka},
  title = {{Wielorobotowa rekonfigurowalna forma mocująca obrabiane detale – układ sterowania}},
  year = {2013},
  note = {Multi-Robot-Based Reconfigurable Fixture - Control System - Zielinski},
  number = {2},
  pages = {79-85},
  projects = {fp7swarm},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/par-swarm-12-cz1.pdf}
}
```
Formy mocujące muszą być idealnie dopasowane do detali, które maja podpierać. Nawet mała modyfikacja kształtu w projekcie detalu powoduje, że kosztowna forma staje się bezużyteczna. Stąd duże zainteresowanie przemysłu formami rekonfigurowalnymi. Zastąpienie tradycyjnych form przez wiele robotów stanowiących ruchome podpory wymaga zaprojektowania specjalnego układu sterowania oraz dedykowanej metody programowania umożliwiającej szybką rekonfigurację takiego systemu. Układ sterowania systemu wielorobotowego został zaprojektowany na podstawie formalnej specyfikacji definiującej strukturę tego układu za pomocą agentów, których zachowanie określane jest za pomocą funkcji przejścia. W ten sposób stworzono system modularny, umożliwiający parametryzację oprogramowania ułatwiające wprowadzanie zmian przy sprawdzaniu różnych rozwiązań technicznych, co jest nieodzowne przy konstrukcji systemu prototypowego. Eksperymenty przeprowadzone w fabryce wykazały, że zaprojektowany system usztywnia detal na tyle, aby wynik obróbki mechanicznej był zadowalający. Jeżeli liczba różnych detali podlegających obróbce jest znaczna, to zaprojektowany system stanowi względnie tanią alternatywę dla wytworzenia i późniejszego magazynowania wielu form. Ponadto zaprojektowany układ sterowania może sterować zespołami robotów o różnej liczności oraz dopuszcza zmiany konstrukcyjne poszczególnych części robotów. Pierwsza część artykułu przedstawia problemy związane z konstrukcją form podpierających oraz prezentuje strukturę układu sterowania systemu wielorobotowego, natomiast część druga koncentruje się na programie planującym działania robotów.
C. Zieliński, W. Kasprzak, T. Kornuta, W. Szynkiewicz, P. Trojanek, M. Walęcki, T. Winiarski, and T. Zielińska
Control and Programming of a Multi-Robot-Based Reconfigurable Fixture
Industrial Robot: An International Journal, vol. 40, no. 4, pp. 329–336, 2013
[ BIB | DOI | abstract | URL ]
```
@article{zielinski12ir-swarm-twiki,
  author = {Zieliński, Cezary and Kasprzak, Włodzimierz and Kornuta, Tomasz and Szynkiewicz, Wojciech and Trojanek, Piotr and Walęcki, Michał and Winiarski, Tomasz and Zielińska, T.},
  title = {Control and Programming of a~Multi-Robot-Based Reconfigurable Fixture},
  journal = {Industrial Robot: An International Journal},
  year = {2013},
  volume = {40},
  number = {4},
  pages = {329--336},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/13-ir-swarm.pdf},
  doi = {10.1108/01439911311320831},
  projects = {fp7swarm},
  twiki = {jcr},
  note = {Zielinski}
}
```
Machining fixtures must fit exactly the work piece to support it appropriately. Even slight change in the design of the work piece renders the costly fixture useless. Substitution of traditional fixtures by a programmable multi-robot system supporting the work pieces requires a specific control system and a specific programming method enabling its quick reconfiguration.

P. Trojanek, T. Kornuta, and C. Zieliński

Design of asynchronously stimulated robot behaviours

in Robot Motion and Control (RoMoCo), 9th Workshop on, 2013, pp. 129–134

[ BIB | DOI | URL ]

@inproceedings{Trojanek:2013_RoMoCo-twiki,
  author = {Trojanek, Piotr and Kornuta, Tomasz and Zieliński, Cezary},
  booktitle = {{Robot Motion and Control (RoMoCo), 9th Workshop on}},
  title = {Design of asynchronously stimulated robot behaviours},
  year = {2013},
  editor = {K.~Kozłowski},
  note = {Zielinski},
  pages = {129--134},
  conference = {romoco13},
  doi = {10.1109/RoMoCo.2013.6614597},
  projects = {GrantRobREx},
  lang = {en},
  owner = {tkornuta},
  timestamp = {2013.05.16},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2013/async-dataflow-romoco-2013a.pdf},
  zadanie = {pw11}
}

2012

P. Trojanek and C. Zieliński

Metodyka projektowania i narzędzia wspomagające implementację układów sterowania robotów

in Systemy Czasu Rzeczywistego (SCR’2012), 2012

[ BIB ]

@inproceedings{TrojanekSCR:2012,
  author = {Trojanek, Piotr and Zieliński, Cezary},
  title = {Metodyka projektowania i~narzędzia wspomagające implementację układów sterowania robotów},
  booktitle = {Systemy Czasu Rzeczywistego (SCR'2012)},
  year = {2012},
  note = {Zielinski}
}

C. Zieliński, T. Kornuta, M. Stefańczyk, W. Szynkiewicz, P. Trojanek, and M. Walęcki
Języki programowania robotów przemysłowych
Pomiary Automatyka Robotyka, vol. 16, no. 11, pp. 10–19, 2012
[ BIB | abstract ]
```
@article{zielinski2012jezyki-twiki-en,
  author = {Zieliński, Cezary and Kornuta, Tomasz and Stefańczyk, Maciej and Szynkiewicz, Wojciech and Trojanek, Piotr and Walęcki, Michał},
  title = {Języki programowania robotów przemysłowych},
  journal = {Pomiary Automatyka Robotyka},
  year = {2012},
  volume = {16},
  number = {11},
  pages = {10--19},
  lang = {en},
  twiki = {journal},
  note = {Programming languages of industrial robots - Zielinski}
}
```
Pierwsze roboty przemysłowe zaczęto wykorzystywać w fabrykach pięćdziesiąt lat temu. Naturalnym jest, że w tak długim okresie rozwój technologii elektronicznych i informatycznych musiał mieć duży wpływ na sposób sterowania tymi urządzeniami. Aktualny stan techniki w tej dziedzinie najlepiej zobrazować, analizując języki programowania robotów przemysłowych różnych producentów. Artykuł ten nie tylko prezentuje w skrócie języki obecnie stosowane przez dziesięciu producentów robotów, ale również pokazuje kontekst, w jakim były one tworzone.

C. Zieliński, T. Kornuta, and M. Boryń

Specification of Robotic Systems on an Example of Visual Servoing

in 10th International IFAC Symposium on Robot Control (SYROCO 2012), 2012, vol. 10, no. 1, pp. 45–50

[ BIB ]

@inproceedings{zielinski:2012_syroco,
  author = {Zieliński, Cezary and Kornuta, Tomasz and Boryń, Mateusz},
  booktitle = {10th International IFAC Symposium on Robot Control (SYROCO 2012)},
  title = {Specification of Robotic Systems on an Example of Visual Servoing},
  year = {2012},
  volume = {10},
  number = {1},
  pages = {45--50},
  owner = {tkornuta},
  timestamp = {2012.04.24},
  twiki = {article},
  note = {Zielinski}
}

C. Zieliński, T. Kornuta, P. Trojanek, T. Winiarski, and M. Walęcki

Specification of a Multi-agent Robot-Based Reconfigurable Fixture Control System

Robot Motion & Control 2011 (Lecture Notes in Control & Information Sciences), vol. 422, pp. 171–182, 2012

[ BIB | DOI | abstract | URL ]

@article{Zie:11RoMoCo-twiki,
  author = {Zieliński, Cezary and Kornuta, Tomasz and Trojanek, Piotr and Winiarski, Tomasz and Walęcki, Michał},
  journal = {Robot Motion \& Control 2011 (Lecture Notes in Control \& Information Sciences)},
  title = {{Specification of a~Multi-agent Robot-Based Reconfigurable Fixture Control System}},
  year = {2012},
  note = {Zielinski},
  pages = {171--182},
  volume = {422},
  conference = {romoco11},
  doi = {10.1007/978-1-4471-2343-9_14},
  editor = {K.~Kozłowski},
  projects = {fp7swarm},
  lang = {en},
  location = {Bukowy Dworek, Poland},
  owner = {yoyek},
  publisher = {Springer},
  timestamp = {2012.04.12},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2012/11-swarm-romoco.pdf}
}

T. Kornuta and C. Zieliński

Specyfikacja struktur serwomechanizmów wizyjnych

Pomiary Automatyka Robotyka, vol. 16, no. 2, pp. 370–376, 2012

[ BIB ]

@article{tkornuta:2012_automation-eng,
  author = {Kornuta, Tomasz and Zieliński, Cezary},
  title = {Specyfikacja struktur serwomechanizmów wizyjnych},
  journal = {Pomiary Automatyka Robotyka},
  year = {2012},
  volume = {16},
  number = {2},
  pages = {370-376},
  owner = {tkornuta},
  timestamp = {2012.02.22},
  twiki = {journal},
  note = {Specification of visual servo structures - Zielinski}
}

T. Kornuta, M. Stefańczyk, and C. Zieliński
Projektowanie układów sterowania robotów. Część II: Aktywna wizja
in Proceedings of the 12th National Conference on Robotics – Advances in Robotics, 2012, vol. 2, no. 182, pp. 607–616
[ BIB | abstract | URL ]
```
@inproceedings{kornuta12projektowanie-eng-twiki,
  author = {Kornuta, Tomasz and Stefańczyk, Maciej and Zieliński, Cezary},
  booktitle = {Proceedings of the 12th National Conference on Robotics -- Advances in Robotics},
  title = {{Projektowanie układów sterowania robotów. Część II: Aktywna wizja}},
  year = {2012},
  editor = {Tchoń, K. and Zieliński, Cezary},
  note = {Design of Robot Control Systems. Part II: Active Vision - Zielinski},
  number = {182},
  pages = {607--616},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  series = {Prace Naukowe – Elektronika},
  volume = {2},
  conference = {kkr12},
  projects = {NCN2012Kornuta},
  lang = {en},
  location = {Świeradów Zdrój, 12--16 Września 2012},
  twiki = {inbook},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2012/kornuta12kkr2}
}
```
Dwuczęściowy artykuł poświęcono metodyce projektowania układów sterowania robotów. W pierwszej części przedstawiono krótki przegląd architektur systemów robotycznych oraz przedstawiono metodykę projektowania systemów wielorobotowych wykorzystującą pojęcia: agenta upostaciowionego oraz funkcji przejścia. W poniższej drugiej części metodyka ta została wykorzystana do specyfikacji systemu robotycznego potrafiącego rozróżnić obiekty płaskie od przestrzennych. Wyniki przeprowadzonych eksperymentów potwierdzają poprawność specyfikacji, jak i stworzonej na jej bazie implementacji.
T. Kornuta and C. Zieliński
Projektowanie układów sterowania robotów. Część I: metodyka
in XIII Krajowa Konferencja Robotyki – Postępy robotyki, 2012, vol. 2, no. 182, pp. 599–606
[ BIB | abstract ]
```
@inproceedings{Kornuta:2012_KKR_metodyka-en,
  author = {Kornuta, Tomasz and Zieliński, Cezary},
  booktitle = {XIII Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Projektowanie układów sterowania robotów. Część I: metodyka}},
  year = {2012},
  note = {Design of Robot Control Systems. Part I: Methodology - Zielinski},
  number = {182},
  pages = {599-606},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  series = {Prace Naukowe – Elektronika},
  volume = {2},
  conference = {kkr12},
  projects = {NCN2012Kornuta},
  lang = {en},
  location = {Świeradów Zdrój, 12--16 Września 2012},
  owner = {tkornuta},
  timestamp = {2013.01.06},
  twiki = {inbook}
}
```
The two part article presents a methodology of designing multi-robot control systems. This part presents a brief overview of control architectures and describes the design methodology based on the concept of an embodied agent. An agent is decomposed into control subsystem, virtual effectors and receptors. The each of those components contains internal memory and communication buffers. Those form the arguments of transition functions which compute values for output buffers of those components. Those functions specify the evolution of component state, which in turn define their behaviours. Those functions are expressed mathematically and graphically by data flow diagrams. The second part applies the presented methodology to the specification of a control system of a robot utilizing the idea of active vision.

2011

P. Trojanek and C. Zieliński

Specification of complex robot control systems (in Polish)

Measurements–Automatics–Robotics (PAR), no. 2, pp. 266–274, 2011

[ BIB ]

@article{Trojanek2011automation:en,
  author = {Trojanek, Piotr and Zieliński, Cezary},
  title = {Specification of complex robot control systems (in~{P}olish)},
  journal = {Measurements--Automatics--Robotics (PAR)},
  year = {2011},
  pages = {266--274},
  number = {2},
  owner = {CZ},
  note = {Zielinski}
}

P. Trojanek and C. Zieliński

Decomposition and specification of robot control systems (in Polish)

in Design, analysis and implementation of real-time systems, 2011, pp. 53–64

[ BIB ]

@inproceedings{TrojanekSCR:2011:en,
  author = {Trojanek, Piotr and Zieliński, Cezary},
  title = {Decomposition and specification of robot control systems (in~{P}olish)},
  booktitle = {Design, analysis and implementation of real-time systems},
  year = {2011},
  editor = {Trybus, L. and Samolej, S.},
  pages = {53--64},
  publisher = {Transport and Communication Publishers},
  note = {Zielinski}
}

C. Zieliński, T. Winiarski, W. Szynkiewicz, K. Mianowski, K. Banachowicz, and K. Czajkowski

Sterownik manipulatora z chwytakiem wielopalczastym

KAiR – Postępy Automatyki i Robotyki, vol. 16, no. 2, pp. 577–592, 2011

[ BIB | abstract | URL ]

@article{Zie:kka11-eng-twiki,
  author = {Zieliński, Cezary and Winiarski, Tomasz and Szynkiewicz, Wojciech and Mianowski, Krzysztof and Banachowicz, Konrad and Czajkowski, Krzysztof},
  journal = {KAiR -- Postępy Automatyki i~Robotyki},
  title = {{Sterownik manipulatora z~chwytakiem wielopalczastym}},
  year = {2011},
  month = {Czerwiec},
  note = {Controller of manipulator with multi-fingered gripper - Zielinski},
  number = {2},
  pages = {577--592},
  volume = {16},
  editors = {Krzysztof Malinowski and Ryszard Dindorf},
  projects = {GrantMNiSWN514128733},
  lang = {pl},
  place = {Kielce},
  publisher = {{Kielce University of Technology}},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2011/chwytak-wielopaczalsty-kka.pdf}
}

C. Zieliński, T. Winiarski, W. Szynkiewicz, K. Mianowski, K. Banachowicz, and K. Czajkowski

Sterownik manipulatora z chwytakiem wielopalczastym

in Materiały XVII Krajowej Konferencji Automatyki, 2011, vol. 1, pp. 1102–1115

[ BIB ]

@inproceedings{Mianowski:kka-preprint-zielinski-2011-twiki,
  author = {Zieliński, Cezary and Winiarski, Tomasz and Szynkiewicz, Wojciech and Mianowski, Krzysztof and Banachowicz, Konrad and Czajkowski, Krzysztof},
  booktitle = {Materiały XVII Krajowej Konferencji Automatyki},
  title = {{Sterownik manipulatora z chwytakiem wielopalczastym}},
  year = {2011},
  note = {Zielinski},
  pages = {1102--1115},
  volume = {1},
  twiki = {article}
}

T. Kornuta and C. Zieliński

Behavior-based control system of a robot actively recognizing hand postures

in 15th IEEE International Conference on Advanced Robotics, ICAR 2011, 2011, pp. 265–270

[ BIB ]

@inproceedings{tkornuta:2011icar-twiki,
  author = {Kornuta, Tomasz and Zieliński, Cezary},
  booktitle = {15th IEEE International Conference on Advanced Robotics, ICAR 2011},
  title = {Behavior-based control system of a~robot actively recognizing hand postures},
  year = {2011},
  pages = {265-270},
  month = jun,
  lang = {en},
  location = {Tallinn, Estonia},
  owner = {tkornuta},
  timestamp = {2011.10.22},
  twiki = {article},
  note = {Zielinski}
}

T. Kornuta and C. Zieliński

Dekompozycja systemu sterowania robota-kasjera

Pomiary Automatyka Robotyka, no. 2, pp. 41–48, 2011

[ BIB ]

@article{tkornuta:2011_kasjer-eng-twiki,
  author = {Kornuta, Tomasz and Zieliński, Cezary},
  title = {Dekompozycja systemu sterowania robota-kasjera},
  journal = {Pomiary Automatyka Robotyka},
  year = {2011},
  number = {2},
  pages = {41--48},
  owner = {tkornuta},
  timestamp = {2011.03.09},
  twiki = {journal},
  note = {Decomposition of the robot-cashier control system - Zielinski}
}

C. Zieliński, T. Kornuta, P. Trojanek, and T. Winiarski
Metoda projektowania układów sterowania autonomicznych robotów mobilnych. Część 2. Przykład zastosowania
Pomiary Automatyka Robotyka, no. 10, pp. 84–91, 2011
[ BIB | abstract | URL ]
```
@article{PAR2011_Scout2-eng-twiki,
  author = {Zieliński, Cezary and Kornuta, Tomasz and Trojanek, Piotr and Winiarski, Tomasz},
  journal = {Pomiary Automatyka Robotyka},
  title = {{Metoda projektowania układów sterowania autonomicznych robotów mobilnych. Część~2. Przykład zastosowania}},
  year = {2011},
  note = {Method of Designing Autonomous Mobile Robot Control Systems. Part 2: An~Example - Zielinski},
  number = {10},
  pages = {84--91},
  projects = {piap2009},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2011/11-par-scout2.pdf}
}
```
Ten dwuczęściowy artykuł przedstawia metodę projektową umożliwiającą określenie zarówno struktury, jak i sposobu działania układów sterowania autonomicznych robotów. Cześć pierwsza koncentruje się na aparacie formalnym i ogólnych przesłankach metody projektowej, natomiast cześć druga przedstawia przykład obrazujący sposób stosowania metody opisanej w części pierwszej artykułu.
C. Zieliński, T. Kornuta, P. Trojanek, and T. Winiarski
Metoda projektowania układów sterowania autonomicznych robotów mobilnych. Część 1. Wprowadzenie teoretyczne
Pomiary Automatyka Robotyka, no. 9, pp. 84–87, 2011
[ BIB | abstract | URL ]
```
@article{PAR2011_Scout1-eng-twiki,
  author = {Zieliński, Cezary and Kornuta, Tomasz and Trojanek, Piotr and Winiarski, Tomasz},
  journal = {Pomiary Automatyka Robotyka},
  title = {{Metoda projektowania układów sterowania autonomicznych robotów mobilnych. Część~1. Wprowadzenie teoretyczne}},
  year = {2011},
  note = {Method of Designing Autonomous Mobile Robot Control Systems. Part 1: Theoretical Introduction - Zielinski},
  number = {9},
  pages = {84--87},
  projects = {piap2009},
  twiki = {journal},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2011/11-par-scout1.pdf}
}
```
Ten dwuczęściowy artykuł przedstawia metodę projektową umożliwiającą określenie zarówno struktury, jak i sposobu działania układów sterowania autonomicznych robotów. Cześć pierwsza koncentruje się na aparacie formalnym i ogólnych przesłankach metody projektowej, natomiast cześć druga przedstawia przykład obrazujący sposób stosowania metody opisanej w części pierwszej artykułu.

T. Winiarski, K. Banachowicz, C. Zieliński, W. Szynkiewicz, K. Mianowski, and K. Czajkowski

Chwytak wielopalczasty dla robota usługowego – sterowanie

Pomiary Automatyka Robotyka, no. 6, pp. 52–57, 2011

[ BIB | abstract | URL ]

@article{PAR2011_ChwytakWielopalczasty_Sterowanie-eng-twiki,
  author = {Winiarski, Tomasz and Banachowicz, Konrad and Zieliński, Cezary and Szynkiewicz, Wojciech and Mianowski, K. and Czajkowski, K.},
  title = {Chwytak wielopalczasty dla robota usługowego -- sterowanie},
  journal = {Pomiary Automatyka Robotyka},
  year = {2011},
  number = {6},
  pages = {52--57},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2011/11-chwytak-wielopaczalsty-sterowanie.pdf},
  projects = {GrantMNiSWN514128733},
  owner = {cz},
  timestamp = {2012.04.12},
  twiki = {journal},
  note = {Multi-fingered gripper for a~service robot: control - Zielinski}
}

W. Szynkiewicz, K. Czajkowski, C. Zieliński, T. Winiarski, K. Mianowski, and K. Banachowicz

Chwytak wielopalczasty dla robota usługowego – planowanie chwytów

Pomiary Automatyka Robotyka, no. 7–8, pp. 75–81, 2011

[ BIB | abstract | URL ]

@article{PAR2011_ChwytakWielopalczasty_Planowanie-eng-twiki,
  author = {Szynkiewicz, Wojciech and Czajkowski, K. and Zieliński, Cezary and Winiarski, Tomasz and Mianowski, K. and Banachowicz, Konrad},
  title = {Chwytak wielopalczasty dla robota usługowego -- planowanie chwytów},
  journal = {Pomiary Automatyka Robotyka},
  year = {2011},
  number = {7--8},
  pages = {75--81},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2011/11-chwytak-wielopaczalsty-planowanie-chwytow.pdf},
  projects = {GrantMNiSWN514128733},
  owner = {cz},
  timestamp = {2012.04.12},
  twiki = {journal},
  note = {Multi-fingered gripper for a~service robot - grasp planning - Zielinski}
}

K. Mianowski, K. Banachowicz, T. Winiarski, C. Zieliński, W. Szynkiewicz, and K. Czajkowski

Chwytak wielopalczasty dla robota usługowego – konstrukcja

Pomiary Automatyka Robotyka, no. 5, pp. 46–52, 2011

[ BIB | abstract | URL ]

@article{PAR2011_ChwytakWielopalczasty_Konstrukcja-eng-twiki,
  author = {Mianowski, K. and Banachowicz, Konrad and Winiarski, Tomasz and Zieliński, Cezary and Szynkiewicz, Wojciech and Czajkowski, K.},
  title = {Chwytak wielopalczasty dla robota usługowego -- konstrukcja},
  journal = {Pomiary Automatyka Robotyka},
  year = {2011},
  number = {5},
  pages = {46--52},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2011/11-chwytak-wielopaczalsty-konstrukcja.pdf},
  projects = {GrantMNiSWN514128733},
  owner = {cz},
  twiki = {journal},
  note = {Multi-fingered gripper for a~service robot: hardware design - Zielinski}
}

M. Boryń, T. Kornuta, and C. Zieliński

Struktura ramowa do implementacji i testowania serwomechanizmów wizyjnych

Pomiary Automatyka Robotyka, no. 2, pp. 677–686, 2011

[ BIB ]

@article{mboryn:2011automation-eng,
  author = {Boryń, M. and Kornuta, Tomasz and Zieliński, Cezary},
  title = {Struktura ramowa do implementacji i~testowania serwomechanizmów wizyjnych},
  journal = {Pomiary Automatyka Robotyka},
  year = {2011},
  number = {2},
  pages = {677--686},
  owner = {CZ},
  timestamp = {2013.10.09},
  twiki = {journal},
  note = {A framework for implementation and testing of diverse visual servo algorithms - Zielinski}
}

C. Zieliński and T. Kornuta

Generation of Linear Cartesian Trajectories for Robots Using Industrial Motion-Controllers

in 16th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2011, 2011, pp. 62–67

[ BIB ]

@inproceedings{czielinski:2011mmar,
  author = {Zieliński, Cezary and Kornuta, Tomasz},
  booktitle = {16th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2011},
  title = {Generation of Linear {C}artesian Trajectories for Robots Using Industrial Motion-Controllers},
  year = {2011},
  pages = {62--67},
  month = aug,
  lang = {en},
  location = {Miedzyzdroje, Poland},
  owner = {tkornuta},
  timestamp = {2011.10.22},
  twiki = {article},
  note = {Zielinski}
}

2010

C. Zieliński

Quo vadis robotyko?

Pomiary Automatyka Robotyka, no. 5, pp. 5–15, 2010

[ BIB ]

@article{ZielinskiQuoVadis:2010,
  author = {Zieliński, Cezary},
  title = {Quo vadis robotyko?},
  journal = {Pomiary Automatyka Robotyka},
  year = {2010},
  pages = {5--15},
  number = {5},
  lang = {pl},
  note = {Zielinski}
}

P. Trojanek and C. Zieliński

Specyfikacja systemów wielorobotowych w oparciu o sieci Petriego

in Metody wytwarzania i zastosowania systemów czasu rzeczywistego. XVII Konferencja Systemy Czasu Rzeczywistego, Gdańsk, SCR’2010, 2010, pp. 47–58

[ BIB ]

@inproceedings{trojanek:2010_specification_petri_net,
  author = {Trojanek, Piotr and Zieliński, Cezary},
  title = {Specyfikacja systemów wielorobotowych w oparciu o sieci Petriego},
  booktitle = {Metody wytwarzania i zastosowania systemów czasu rzeczywistego. XVII Konferencja Systemy Czasu Rzeczywistego, Gdańsk, SCR'2010},
  year = {2010},
  pages = {47-58},
  note = {Zielinski}
}

C. Zieliński

Formalne podejście do programowania robotów — struktura układu sterującego

in Inteligencja wokół nas. Współdziałanie agentów softwareowych, robotów, inteligentnych urządzeń, vol. 15,

S. Ambroszkiewicz, A. Borkowski, K. Centarowicz, and C. Zieliński, Eds. Monografie Komitetu Automatyki i Robotyki Polskiej Akademii Nauk, EXIT, 2010, pp. 267–300 [ BIB ]

@inbook{Zielinski:2010_ambook_formalizm-twiki,
  title = {Formalne podejście do programowania robotów — struktura układu sterującego},
  pages = {267--300},
  booktitle = {Inteligencja wokół nas. Współdziałanie agentów softwareowych, robotów, inteligentnych urządzeń},
  publisher = {Monografie Komitetu Automatyki i Robotyki Polskiej Akademii Nauk, EXIT},
  year = {2010},
  author = {Zieliński, Cezary},
  editor = {Ambroszkiewicz, S. and Borkowski, A. and Centarowicz, K. and Zieliński, Cezary},
  volume = {15},
  projects = {GrantMNiSW3T11C03829},
  twiki = {inbook},
  note = {Zielinski}
}

C. Zieliński and P. Trojanek

Współpraca robotów

in Inteligencja wokół nas. Współdziałanie agentów softwareowych, robotów, inteligentnych urządzeń, vol. 15,

S. Ambroszkiewicz, A. Borkowski, K. Cetnarowicz, and C. Zieliński, Eds. Monografie Komitetu Automatyki i Robotyki Polskiej Akademii Nauk, EXIT, 2010, pp. 301–315 [ BIB ]

@inbook{Zielinski:2010_robot_cooperation,
  title = {Współpraca robotów},
  pages = {301--315},
  booktitle = {Inteligencja wokół nas. Współdziałanie agentów softwareowych, robotów, inteligentnych urządzeń},
  publisher = {Monografie Komitetu Automatyki i Robotyki Polskiej Akademii Nauk, EXIT},
  year = {2010},
  author = {Zieliński, Cezary and Trojanek, Piotr},
  editor = {Ambroszkiewicz, S. and Borkowski, A. and Cetnarowicz, K. and Zieliński, Cezary},
  volume = {15},
  twiki = {inbook},
  note = {Zielinski}
}

C. Zieliński and T. Winiarski
Motion Generation in the MRROC++ Robot Programming Framework
International Journal of Robotics Research, vol. 29, no. 4, pp. 386–413, 2010
[ BIB | DOI | abstract | URL ]
```
@article{zielinski2010motion-twiki,
  author = {Zieliński, Cezary and Winiarski, Tomasz},
  journal = {International Journal of Robotics Research},
  title = {{Motion Generation in the MRROC++ Robot Programming Framework}},
  year = {2010},
  note = {Zielinski},
  number = {4},
  pages = {386-413},
  volume = {29},
  doi = {10.1177/0278364909348761},
  projects = {GrantMNiSWN514128733},
  owner = {yoyek},
  publisher = {Multimedia Archives},
  timestamp = {2012.04.12},
  twiki = {jcr},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2010/MotionGeneration2009.pdf}
}
```
The paper presents a formal approach to robot motion specification. This motion specification takes into account three elementary behaviors that suffice to define any robot interaction with the environment, i.e.: free motion, exerting generalized forces and transition between both of those behaviors. Those behaviors provide a foundation for general motion generation taking into account any sensors, any effectors and the capability to exchange information between embodied agents. This specification can be used both for the definition of robot tasks and implementation of robot control software, hence both of those aspects are presented in the paper. This formal approach was used for the implementation of MRROC++ robot programming framework. As an exemplary task two-handed manipulation of a Rubik’s cube is used. Extensive experimentation both with the presented formalism and MRROC++ framework showed that the imposed formal rigor eliminates many errors at the software specification phase, produces well structured control software and significantly speeds up and simplifies its implementation. Those advantages are mainly due to the fact that the proposed formal specification tool is derived from operational semantics used in computer science forthe definition of programming languages, thus a close relationship between abstract definition and implementation of the control system resulted.

C. Zieliński, T. Winiarski, P. Trojanek, and T. Kornuta

Multi-agent control system specification of a robot based reconfigurable fixture

in Problems in Robotics, 2010, vol. 2, pp. 691–702

[ BIB | abstract | URL ]

@inproceedings{Zielinski2010mcz:en-twiki,
  author = {Zieliński, Cezary and Winiarski, Tomasz and Trojanek, Piotr and Kornuta, Tomasz},
  booktitle = {Problems in Robotics},
  title = {Multi-agent control system specification of a~robot based reconfigurable fixture},
  year = {2010},
  editor = {Tchoń, K. and Zieliński, Cezary},
  volume = {2},
  pages = {691--702},
  publisher = {Publishing House of Warsaw University of Technology},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2010/swarmitfix-kkr11.pdf},
  conference = {kkr11},
  projects = {fp7swarm},
  owner = {CZ},
  timestamp = {2012.04.12},
  twiki = {inbook},
  note = {Zielinski}
}

C. Zieliński, T. Winiarski, W. Szynkiewicz, T. Kornuta, and P. Trojanek

MRROC++ – Robot programing framework for multi-robot controllers development

in Inteligencja wokół nas. Współdziałanie agentów softwareowych, robotów, inteligentnych urządzeń, rozdział: MRROC++ –- programowa struktura ramowa do tworzenia sterowników systemów wielorobotowych, vol. 15,

S. Ambroszkiewicz, A. Borkowski, K. Cetnarowicz, and C. Zieliński, Eds. Monographs of the Committee for Automation and Robotics of Polish Academy of Sciences, EXIT, 2010, pp. 317–384 [ BIB ]

@inbook{Zielinski:2010_ambook_mrrocpp-eng-twiki,
  title = {MRROC++ – Robot programing framework for multi-robot controllers development},
  pages = {317--384},
  booktitle = {Inteligencja wokół nas. Współdziałanie agentów softwareowych, robotów, inteligentnych urządzeń, rozdział: MRROC++ –- programowa struktura ramowa do tworzenia sterowników systemów wielorobotowych},
  publisher = {Monographs of the Committee for Automation and Robotics of Polish Academy of Sciences, EXIT},
  year = {2010},
  author = {Zieliński, Cezary and Winiarski, Tomasz and Szynkiewicz, Wojciech and Kornuta, Tomasz and Trojanek, Piotr},
  editor = {Ambroszkiewicz, S. and Borkowski, A. and Cetnarowicz, K. and Zieliński, Cezary},
  volume = {15},
  projects = {GrantMNiSW3T11C03829},
  twiki = {inbook},
  note = {Intelligence around us. Interaction of software agents, robots, intelligent devices - Zielinski}
}

C. Zieliński and T. Winiarski
General specification of multi-robot control system structures
Bulletin of the Polish Academy of Sciences – Technical Sciences, vol. 58, no. 1, pp. 15–28, 2010
[ BIB | DOI | abstract | URL ]
```
@article{Zie:10BulPAN-twiki,
  author = {Zieliński, Cezary and Winiarski, Tomasz},
  title = {General specification of multi-robot control system structures},
  journal = {Bulletin of the Polish Academy of Sciences -- Technical Sciences},
  year = {2010},
  volume = {58},
  number = {1},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2010/BiuletynPAN2010.pdf},
  doi = {10.2478/v10175-010-0002-x},
  projects = {GrantMNiSWN514128733},
  lang = {en},
  pages = {15-28},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {jcr},
  note = {Zielinski}
}
```
The paper deals with structuring robot control systems. The control system is decomposed into distinct agents. An agent, in general, is responsible for control of its effector, perception of the environment for the purpose of its effector control, and inter-agent communication. The behaviour of the agent is governed by its set of transition functions. The control system consists of two tier – the upper tier is defined by the flow of information between the agents and the lower tier is defined by formal specification of each agent’s behaviour (influence on the environment, gathering sensor readings, production and consumption of the information for/from the other agents). The paper presents one of the examples of utilization of this approach. The example concerns multi-robot drawing copying system.

M. Staniak and C. Zieliński

Structures of visual servos

Robotics and Autonomous Systems, vol. 58, no. 8, pp. 940–954, 2010

[ BIB | DOI | URL ]

@article{2010:staniak_vs_structures-twiki,
  author = {Staniak, Maciej and Zieliński, Cezary},
  title = {Structures of visual servos},
  journal = {Robotics and Autonomous Systems},
  year = {2010},
  volume = {58},
  number = {8},
  pages = {940--954},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2010/2010_staniak_vs_structures.pdf},
  address = {Amsterdam, The Netherlands},
  doi = {10.1016/j.robot.2010.04.004},
  issn = {0921-8890},
  owner = {tkornuta},
  publisher = {North-Holland Publishing Co.},
  timestamp = {2010.10.13},
  note = {Zielinski}
}

2009

C. Zieliński and P. Trojanek

Stigmergic cooperation of autonomous robots

Journal of Mechanism and Machine Theory, vol. 44, pp. 656–670, Apr. 2009

[ BIB ]

@article{stigmergic:2009,
  author = {Zieliński, Cezary and Trojanek, Piotr},
  title = {Stigmergic cooperation of autonomous robots},
  journal = {Journal of Mechanism and Machine Theory},
  year = {2009},
  volume = {44},
  pages = {656--670},
  month = apr,
  lang = {en},
  note = {Zielinski}
}

N. W. Koh, C. Zieliński, and M. H. Ang

The Matrix-based Framework: Its role as a Job-Agent Supervisory Controller

Advanced Robotics, vol. 23, no. 12/13, pp. 1663–1686, Sep. 2009

[ BIB ]

@article{KohNW2009AdvRobMatrix,
  author = {Koh, N.W. and Zieliński, Cezary and Ang, M.H.},
  journal = {Advanced Robotics},
  title = {{The Matrix-based Framework: Its role as a~Job-Agent Supervisory Controller}},
  year = {2009},
  month = sep,
  note = {Zielinski},
  number = {12/13},
  pages = {1663--1686},
  volume = {23},
  lang = {en}
}

T. Winiarski and C. Zieliński
Specification of multi-robot controllers on an example of a haptic device
in Robot Motion and Control 2009 (LNCiS) Lecture Notes in Control & Information Sciences, 2009, vol. 396, pp. 227–242
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Win:09RoMoCo-twiki,
  author = {Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {Robot Motion and Control 2009 (LNCiS) Lecture Notes in Control \& Information Sciences},
  title = {Specification of multi-robot controllers on an example of a~haptic device},
  year = {2009},
  editor = {K.~Kozłowski},
  volume = {396},
  pages = {227--242},
  publisher = {Springer Verlag London Limited},
  doi = {10.1007/978-1-84882-985-5_21},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2009/RoMoCo2009.pdf},
  conference = {romoco09},
  projects = {GrantMNiSWN514128733},
  lang = {en},
  location = {Czerniejewo, Poland},
  twiki = {inbook},
  note = {Zielinski}
}
```
The paper introduces the basic concepts necessary for the formal specification of the structure and operation of multi–robot control systems. The concept of: agents, images, transition functions and motion instructions are general and can be used in the specification of any multi–robot system. However, for the purpose of specifying a two–manipulator haptic system controller, general elementary behaviours are introduced and a control law enabling their implementation is formulated. The control system of a two–arm haptic device is specified formally. The control system has been implemented using MRROC++ robot programing framework. Finally the experiments carried out using this system are presented.

2008

C. Zieliński

Roboty w służbie ludzi starszych

in Polska w obliczu starzenia się społeczeństwa,

Warszawa: Polska Akademia Nauk, Kancelaria PAN, Komitet Prognoz ”Polska 2000 Plus” przy Prezydium PAN, 2008, pp. 154–169 [ BIB ]

@incollection{ZielinskiStarsi2008,
  author = {Zieliński, Cezary},
  title = {Roboty w~służbie ludzi starszych},
  booktitle = {Polska w~obliczu starzenia się społeczeństwa},
  publisher = {Polska Akademia Nauk, Kancelaria PAN, Komitet Prognoz ''Polska 2000 Plus'' przy Prezydium PAN},
  year = {2008},
  pages = {154--169},
  address = {Warszawa},
  note = {Zielinski}
}

T. Winiarski and C. Zieliński

Sterowanie interakcją manipulatora ze środowiskiem - część druga

in X Krajowa Konferencja Robotyki – Problemy Robotyki, 2008, vol. 2, pp. 483–492

[ BIB | abstract | URL ]

@inproceedings{Winiarski:Simzs2008p2-twiki,
  author = {Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {X Krajowa Konferencja Robotyki -- Problemy Robotyki},
  title = {Sterowanie interakcją manipulatora ze środowiskiem - część druga},
  year = {2008},
  volume = {2},
  pages = {483--492},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2008/WiniarskiSimzs2008p2.pdf},
  conference = {kkr10},
  projects = {GrantMNiSWN514128733},
  lang = {pl},
  location = {Piechowice, 3--6 Września 2008},
  twiki = {inbook},
  note = {Zielinski}
}

T. Winiarski and C. Zieliński
Sterowanie interakcją manipulatora ze środowiskiem - część pierwsza
in X Krajowa Konferencja Robotyki – Problemy Robotyki, 2008, vol. 2, pp. 473–482
[ BIB | abstract | URL ]
```
@inproceedings{Winiarski:Simzs2008p1-twiki,
  author = {Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {X Krajowa Konferencja Robotyki -- Problemy Robotyki},
  title = {Sterowanie interakcją manipulatora ze środowiskiem - część pierwsza},
  year = {2008},
  volume = {2},
  pages = {473--482},
  publisher = {Oficyna Wydawnicza Politechniki Warszawskiej},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2008/WiniarskiSimzs2008p1.pdf},
  projects = {GrantMNiSWN514128733},
  lang = {pl},
  location = {Piechowice, 3--6 Września 2008},
  twiki = {inbook},
  note = {Zielinski}
}
```
The article presents the specification (in part 1) and implementation (in part 2) of elementary behaviors used to define diverse tasks executed by service robots. Three main behaviors are defined: unconstrained motion with the assumption that no contact with obstacles will occur, maintaining contact with the environment, intermediate or transitional behavior – where initially unconstrained motion is expect to result in an eventual contact, or vice versa. The proposed approach is illustrated by an example of the end–effector following of an unknown contour.
T. Winiarski, M. Staniak, and C. Zieliński
Równoległe siłowo-wizyjne sterowanie robotami
XVI Krajowa Konferencja Automatyki, 2008
[ BIB | abstract | URL ]
```
@article{Winiarski:Rswsr2008-eng-twiki,
  author = {Winiarski, Tomasz and Staniak, Maciej and Zieliński, Cezary},
  journal = {XVI Krajowa Konferencja Automatyki},
  title = {{Równoległe siłowo-wizyjne sterowanie robotami}},
  year = {2008},
  month = {Maj},
  note = {Parallel visual-force control of robots - Zielinski},
  projects = {GrantUPBHSWRM},
  lang = {pl},
  place = {Szczyrk},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2008/WiniarskiRswsr2008.pdf}
}
```
Dokładność serwomechanizmów wizyjnych jest uwarunkowana rozdzielczością użytej kamery oraz dokładnością kalibracji wzajemnego położenia kamery i robota oraz modelu kinematyki robota. Zamiast próbować wpływać na te czynniki zaproponowano tu zwiększenie dokładności serwomechanizmu wizyjnego poprzez wykorzystanie sterowania pozycyjno-siłowego w fazie chwytania obiektu, gdy precyzja ruchów musi być największa. Opracowane prawo sterowania korzysta z superpozycji wartości zadanej pozycji wygenerowanej przez układ wizyjny oraz pożądanej mechanicznej impedancji manipulatora. Eksperymenty przeprowadzono na robocie wyposażonym w sterownik oparty na programowej strukturze ramowej MRROC++.
T. Winiarski and C. Zieliński
Podstawy Sterowania Siłowego w Robotach
Pomiary Automatyka Robotyka, vol. 12, no. 6, pp. 5–10, 2008
[ BIB | abstract | URL ]
```
@article{Winiarski:psswr2008-eng-twiki,
  author = {Winiarski, Tomasz and Zieliński, Cezary},
  journal = {Pomiary Automatyka Robotyka},
  title = {{Podstawy Sterowania Siłowego w~Robotach}},
  year = {2008},
  month = {Czerwiec},
  note = {Basics of robot force control - Zielinski},
  number = {6},
  pages = {5--10},
  volume = {12},
  projects = {GrantUPBHSWRM},
  lang = {pl},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2008/WiniarskiPsswr2008.pdf}
}
```
Pomiar sił w istotny sposób rozszerza możliwości wykonywania zadań przez tradycyjne roboty korzystające jedynie z pomiarów położenia członów. Stąd duże zainteresowanie tego typu metodami. Artykuł przedstawia przegląd metod sterowania korzystających z pomiarów sił i momentów sił powstających w interakcji robota z otoczeniem w odniesieniu do popularnych dotychczas metod pozycyjnych.
M. Staniak, T. Winiarski, and C. Zieliński
Parallel Visual-Force Control
in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS ’08, Nice, France, 2008
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Staniak:Pvfc2008-twiki,
  author = {Staniak, Maciej and Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS '08},
  title = {Parallel Visual-Force Control},
  year = {2008},
  doi = {10.1109/IROS.2008.4650654},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2008/StaniakPvfc2008.pdf},
  address = {Nice, France},
  conference = {iros08},
  projects = {GrantUPBHSWRM},
  lang = {en},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Zielinski}
}
```
Visual servos are inherently inaccurate due to lower resolution of reasonably priced cameras and poor calibration of robot-camera relative position and robot kinematic model. Instead of trying to improve those factors the paper presents an alternative solution in which the grasping operation is aided by force control which accommodates positional inaccuracies. The developed control law utilizes the superposition of visually generated desired position and desired mechanical impedance of the manipulator.
P. Trojanek and C. Zieliński
A Method of Integrating Robot Programming Frameworks
in 17th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (RoManSy’08), 2008
[ BIB | abstract | URL ]
```
@inproceedings{RoManSy-twiki,
  author = {Trojanek, Piotr and Zieliński, Cezary},
  booktitle = {17th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (RoManSy'08)},
  title = {A~Method of Integrating Robot Programming Frameworks},
  year = {2008},
  month = jul,
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2008/frameworks.pdf},
  location = {Waseda University, Tokyo, Japan},
  owner = {yoyek},
  timestamp = {2012.04.12},
  note = {Zielinski}
}
```
There is an ongoing quest for producing an ultimate robot programming framework that can be utilised in the design of controllers for any types of robots and moreover executing any tasks. Although many solutions have been presented since the early eighties of the XX century and much progress has been attained, the ultimate solution is still far away. The designed frameworks excel in certain areas, while exhibit significant drawbacks in some other. This paper focuses on an alternative solution to this problem – on fusion of programming frameworks. However, this shifts the problem to another area, namely the communication between the software originating with different frameworks. Combining the capabilities of \MR++ and \ProgLanFont Player is presented as an example.

T. Kornuta and C. Zieliński

Wykorzystanie przez robota aktywnej wizji do identyfikacji obiektów

in X Krajowa Konferencja Robotyki, 2008, vol. Problemy Robotyki, Tom 2, Roboty Inteligentne, pp. 661–670

[ BIB | abstract | URL ]

@inproceedings{KZ:KKR10-eng-twiki,
  author = {Kornuta, Tomasz and Zieliński, Cezary},
  booktitle = {X Krajowa Konferencja Robotyki},
  title = {Wykorzystanie przez robota aktywnej wizji do identyfikacji obiektów},
  year = {2008},
  editor = {Tchoń, K. and Zieliński, Cezary},
  volume = {Problemy Robotyki, Tom 2, Roboty Inteligentne},
  pages = {661-670},
  publisher = {Oficyna Wydawnicza PW},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2008/kkr10_tkornuta_czielinski_aktywna_wizja.pdf},
  projects = {GrantUPBHSWRM},
  lang = {pl},
  location = {Piechowice, 3--6 Września 2008},
  owner = {tkornuta},
  timestamp = {2008.09.15},
  twiki = {inbook},
  note = {Utilization of active vision for object identification - Zielinski}
}

2007

N. W. Koh, C. Zieliński, M. H. Ang, and S. Y. Lim

Job-agents: How to coordinate them?

in Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007, pp. 4436–4441

[ BIB | DOI ]

@inproceedings{Koh:2007,
  author = {Koh, N. W. and Zieliński, Cezary and Ang, M. H. and Lim, S. Y.},
  booktitle = {Proceedings 2007 IEEE International Conference on Robotics and Automation},
  title = {Job-agents: How to coordinate them?},
  year = {2007},
  volume = {},
  number = {},
  pages = {4436-4441},
  keywords = {multi-robot systems;robot programming;software reusability;job agent coordination;software reuse;transition function;robot controller;multiple agents;communication channel;supervisory controller;Robot programming;Robot kinematics;Communication system control;Robot control;Engines;Robotics and automation;Functional programming;Robot sensing systems;Sensor systems;Communication channels},
  doi = {10.1109/ROBOT.2007.364162},
  issn = {1050-4729},
  month = apr,
  note = {Zielinski}
}

C. Zieliński

Perspektywy wykorzystania robotów

in Przyszłość: Świat-Europa-Polska, vol. 16, no. 2,

Warszawa: Biuletyn Komitetu Prognoz ,,Polska 2000 Plus” przy Prezydium Polskiej Akademii Nauk, 2007, pp. 67–80 [ BIB ]

@incollection{ZielinskiPerspektywy2007,
  author = {Zieliński, Cezary},
  title = {Perspektywy wykorzystania robotów},
  booktitle = {Przyszłość: Świat-Europa-Polska},
  publisher = {Biuletyn Komitetu Prognoz ,,Polska 2000 Plus'' przy Prezydium Polskiej Akademii Nauk},
  year = {2007},
  volume = {16},
  number = {2},
  pages = {67--80},
  address = {Warszawa},
  note = {Zielinski}
}

C. Zieliński, W. Szynkiewicz, T. Winiarski, M. Staniak, W. Czajewski, and T. Kornuta
Rubik’s cube as a benchmark validating MRROC++ as an implementation tool for service robot control systems
Industrial Robot: An International Journal, vol. 34, no. 5, pp. 368–375, 2007
[ BIB | DOI | abstract | URL ]
```
@article{zielinski2007rsc-twiki,
  author = {Zieliński, Cezary and Szynkiewicz, Wojciech and Winiarski, Tomasz and Staniak, Maciej and Czajewski, W. and Kornuta, Tomasz},
  journal = {Industrial Robot: An International Journal},
  title = {{Rubik's cube as a~benchmark validating MRROC++ as an implementation tool for service robot control systems}},
  year = {2007},
  note = {Zielinski},
  number = {5},
  pages = {368--375},
  volume = {34},
  doi = {10.1108/01439910710774377},
  projects = {GrantMNiI4T11A00325},
  owner = {yoyek},
  publisher = {Emerald Group Publishing Limited},
  timestamp = {2012.04.12},
  twiki = {jcr},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2007/rubik-cube-benchmark.pdf}
}
```
The purpose is to develop universal software (a programming framework) enabling the implementation of service robot controllers. The software should distinguish the hardware oriented part of the system from the task oriented one. Moreover, force, vision as well as other sensors should be taken into account. Multi-effector systems have to be considered. The robot programming framework MRROC++ has been implemented as a hierarchical structure composed of processes, potentially consisting of threads. All of the software is written in object oriented manner using C++ and is supervised by QNX real-time operating system. The framework has been verified on several systems executing diverse tasks. Here a Rubik’s cube puzzle solving system, consisting of two arms and utilizing force control and visual servos, is presented. The presented framework is well suited to tasks requiring two-handed manipulation with force sensing, visual servoing and on-line construction of plans of actions. The Rubik’s cube puzzle is a reasonable initial benchmark for validation of fundamental service robot capabilities. The MROC++ robot programming framework can be applied to the implementation of diverse robot controllers executing complex service tasks. A demanding benchmark task for service robots has been formulated. This task, as well as many others, have been used to validate the MRROC++ robot programming framework which significantly facilitates the implementation of diverse robot systems. The proposed software structure does not limit the implementation of service robot controllers. However, some of the specific algorithms used for the solution of the benchmark task (i.e., Rubik’s cube puzzle) need to be less time consuming.
C. Zieliński, T. Winiarski, K. Mianowski, A. Rydzewski, and W. Szynkiewicz
End-Effector Sensors Role in Service Robots
in Robot Motion and Control 2007 (LNCiS) Lecture Notes in Control and Information Sciences, 2007, pp. 401–413
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Zielinski:EndEffectorSensorsRole2007-twiki,
  author = {Zieliński, Cezary and Winiarski, Tomasz and Mianowski, K. and Rydzewski, A. and Szynkiewicz, Wojciech},
  booktitle = {Robot Motion and Control 2007 (LNCiS) Lecture Notes in Control and Information Sciences},
  title = {End-Effector Sensors Role in Service Robots},
  year = {2007},
  editor = {Kozłowski, K.},
  month = jun,
  note = {Zielinski},
  pages = {401--413},
  publisher = {Springer Verlag London Limited},
  doi = {10.1007/978-1-84628-974-3_37},
  projects = {GrantMNiI4T11A00325},
  isbn = {78-1-84628-973-6},
  lang = {en},
  owner = {yoyek},
  place = {6th International Workshop on Robot Motion and Control Bukowy Dworek, Poland},
  timestamp = {2012.04.12},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2007/ZieRoMoCo2007.pdf}
}
```
The paper focuses on an end-effector for a service robot. During design of the effector situations causing control problems must be anticipated, thus sensors and special features are incorporated. However, tests on a benchmark task (two-handed solution of a Rubik’s cube puzzle) showed that some of those sensors and features are redundant. Nevertheless, other tasks might require them. The paper presents the overall system control structure, showing how the end-effector control (including the sensors) has been incorporated. Moreover, it tries to draw more general conclusions as to the influence of sensing capabilities of the end-effector on the system control.
P. Trojanek, C. Zieliński, and W. Szynkiewicz
Definition and Composition of Individual Robot Behaviours in Cooperative Box Pushing
in Proceedings of the 13th IEEE IFAC International Conference on Methods and Models in Automation and Robotics (on CD), 2007
[ BIB | abstract | URL ]
```
@inproceedings{Trojanek2007-twiki,
  author = {Trojanek, Piotr and Zieliński, Cezary and Szynkiewicz, Wojciech},
  booktitle = {Proceedings of the 13th IEEE IFAC International Conference on~Methods and~Models in~Automation and~Robotics (on~CD)},
  title = {Definition and Composition of Individual Robot Behaviours in Cooperative Box Pushing},
  year = {2007},
  month = {29--30 August},
  publisher = {Technical University of Szczecin},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2007/mmar_0216_paper.pdf},
  lang = {en},
  location = {Szczecin, Poland},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Zielinski}
}
```
This paper proposes an approach to the problem of defining both a set of behaviours of an individual robot and the method of their composition, so that a multi-robot system executes a general task. Multi-robot box pushing as an example of the cooperative transportation task carried out by teams of robots is considered. An exemplary task consists in pushing a box by two mobile robots, that are unaware of each others actions, along a partially specified trajectory. The formal specification method of the behaviours and their composition is presented, so that their implementation is accurate and simple. The simulation results show that the presented method of designing a behaviour based controller produces a satisfactory result.

2006

C. Zieliński

Transition-Function Based Approach to Structuring Robot Control Software

in Robot Motion and Control, vol. 335,

K. Kozłowski, Ed. Springer-Verlag, 2006, pp. 265–286 [ BIB ]

@incollection{Zie:06Springer,
  author = {Zieliński, Cezary},
  title = {Transition-Function Based Approach to Structuring Robot Control Software},
  booktitle = {Robot Motion and Control},
  publisher = {Springer-Verlag},
  year = {2006},
  editor = {Kozłowski, Krzysztof},
  volume = {335},
  series = {Lecture Notes in Control and Information Sciences},
  pages = {265--286},
  lang = {en},
  note = {Zielinski}
}

C. Zieliński, M. H. Ang, and S. Y. Lim

Matrix-based Supervisory Controller of Transition-Function Specified Robot Controllers

in CISM Courses and Lectures - 16th CISM–IFToMM Symposium on Robot Design, Dynamics and Control, RoManSy’06, Wien, New York, 2006, no. 487, pp. 229–236

[ BIB ]

@inproceedings{Zielinski2006,
  author = {Zieliński, Cezary and Ang, M.H. and Lim, S.Y.},
  booktitle = {CISM Courses and Lectures - 16th CISM--IFToMM Symposium on Robot Design, Dynamics and Control, RoManSy'06},
  title = {{Matrix-based Supervisory Controller of Transition-Function Specified Robot Controllers}},
  year = {2006},
  address = {Wien, New York},
  editor = {T.~Zielińska and C.~Zieliński},
  month = jun,
  note = {Zielinski},
  number = {487},
  pages = {229--236},
  publisher = {Springer},
  lang = {en}
}

C. Zieliński, J. Lange, T. Zielińska, and K. Mianowski

Projekt i symulacja ruchu pojazdu poruszającego się na sześciu półkołach

in IX Krajowa Konferencja Robotyki – Postępy Robotyki: Sterowanie, percepcja i komunikacja, Warszawa, 2006, vol. 1, pp. 255–264

[ BIB ]

@inproceedings{ZielinskiWarszawa2006,
  author = {Zieliński, Cezary and Lange, J. and Zielińska, T. and Mianowski, K.},
  title = {Projekt i~symulacja ruchu pojazdu poruszającego się na sześciu półkołach},
  booktitle = {IX Krajowa Konferencja Robotyki -- Postępy Robotyki: Sterowanie, percepcja i~komunikacja},
  year = {2006},
  editor = {Tchoń, K.},
  volume = {1},
  pages = {255--264},
  address = {Warszawa},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  lang = {pl},
  location = {Piechowice, 13--16 Września 2006},
  note = {Zielinski}
}

T. Winiarski and C. Zieliński

Sterowania siłowe w systemach dwuramiennych

in IX Krajowa Konferencja Robotyki – Postępy Robotyki: Systemy i współdziałanie robotów, 2006, vol. 2, pp. 267–276

[ BIB ]

@inproceedings{TWCZ-KKR9-2006,
  author = {Winiarski, Tomasz and Zieliński, Cezary},
  title = {Sterowania siłowe w~systemach dwuramiennych},
  booktitle = {IX Krajowa Konferencja Robotyki -- Postępy Robotyki: Systemy i~współdziałanie robotów},
  year = {2006},
  editor = {Tchoń, K.},
  volume = {2},
  pages = {267--276},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  lang = {pl},
  location = {Piechowice, 13--16 Września 2006},
  note = {Zielinski}
}

M. Pawluk and C. Zieliński

Niesfalsyfikowane sterowanie adaptacyjne ramieniem robota

in IX Krajowa Konferencja Robotyki – Postępy Robotyki: Sterowanie, percepcja i komunikacja, Warszawa, 2006, vol. 1, pp. 131–140

[ BIB ]

@inproceedings{PawlukWarszawa2006,
  author = {Pawluk, M. and Zieliński, Cezary},
  title = {Niesfalsyfikowane sterowanie adaptacyjne ramieniem robota},
  booktitle = {IX Krajowa Konferencja Robotyki -- Postępy Robotyki: Sterowanie, percepcja i~komunikacja},
  year = {2006},
  editor = {Tchoń, K.},
  volume = {1},
  pages = {131--140},
  address = {Warszawa},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  lang = {pl},
  location = {Piechowice, 13--16 Września 2006},
  note = {Zielinski}
}

W. Kasprzak, C. Zieliński, A. Janicki, and M. Staniak

Zastosowanie MRROC++ do budowy układu sterowania robotem zdolnym do werbalnej komunikacji z człowiekiem

in IX Krajowa Konferencja Robotyki – Postępy Robotyki: Sterowanie, percepcja i komunikacja, Warszawa, 2006, vol. 1, pp. 297–306

[ BIB ]

@inproceedings{KasprzakWarsaw2006,
  author = {Kasprzak, W. and Zieliński, Cezary and Janicki, A. and Staniak, M.},
  title = {Zastosowanie MRROC++ do budowy układu sterowania robotem zdolnym do werbalnej komunikacji z~człowiekiem},
  booktitle = {IX Krajowa Konferencja Robotyki -- Postępy Robotyki: Sterowanie, percepcja i komunikacja},
  year = {2006},
  editor = {Tchoń, K.},
  volume = {1},
  pages = {297--306},
  address = {Warszawa},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  note = {Application of MRROC++ Framework to Robot Control with Verbal Human-Robot Communication (in Polish) - Zielinski},
  lang = {en},
  location = {Piechowice, 13--16 September 2006}
}

C. Zieliński, K. Malinowski, P. Tatjewski, W. Ogryczak, A. Pacut, E. Toczyłowski, K. Sacha, and W. Kasprzak

Obszary badań Instytutu Automatyki i Informatyki Stosowanej

Przegląd Telekomunikacyjny + Wiadomości Telekomunikacyjne, no. 10, pp. 289–292, Oct. 2006

[ BIB ]

@article{Zielinski2006b,
  author = {Zieliński, Cezary and Malinowski, K. and Tatjewski, P. and Ogryczak, W. and Pacut, A. and Toczyłowski, E. and Sacha, K. and Kasprzak, W.},
  title = {Obszary badań Instytutu Automatyki i~Informatyki Stosowanej},
  journal = {Przegląd Telekomunikacyjny + Wiadomości Telekomunikacyjne},
  year = {2006},
  pages = {289--292},
  number = {10},
  month = oct,
  note = {Zielinski},
  lang = {en},
  publisher = {Wydawnictwo SIGMA NOT}
}

C. Zieliński, W. Szynkiewicz, T. Winiarski, W. Czajewski, and M. Staniak
Układanie kostki Rubika jako zadanie testujące zdolności robota usługowego
in IX Krajowa Konferencja Robotyki – Postępy Robotyki: Systemy i współdziałanie robotów, 2006, vol. 2, pp. 237–246
[ BIB | abstract | URL ]
```
@inproceedings{ZielinskiWarsaw2006c-twiki,
  author = {Zieliński, Cezary and Szynkiewicz, Wojciech and Winiarski, Tomasz and Czajewski, W. and Staniak, Maciej},
  booktitle = {IX Krajowa Konferencja Robotyki -- Postępy Robotyki: Systemy i~współdziałanie robotów},
  title = {Układanie kostki Rubika jako zadanie testujące zdolności robota usługowego},
  year = {2006},
  editor = {Tchoń, K.},
  volume = {2},
  pages = {237--246},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2006/KostkaRubika1-kkr9.pdf},
  conference = {kkr9},
  projects = {GrantMNiI4T11A00325},
  lang = {pl},
  location = {Piechowice, 13--16 September 2006},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Rubik's Cube Puzzle as a~Benchmark Task for Service Robots - Zielinski}
}
```
Artykuł opisuje realizację zadania układania kostki Rubika, jako przykładu złożonej manipulacji wykonywanej przez dwuręcznego robota usługowego. Omówiono poszczególne fazy realizacji zadania, od etapu rozpoznania stanu i lokalizacji kostki z wykorzystaniem wizji poczynając, przez poszukiwania rozwiązania kostki z zastosowaniem algorytmów sztucznej inteligencji, na realizacji właściwego zadania manipulacji z wykorzystaniem serwomechanizmu wizyjnego i sterowania pozycyjno-siłowego kończąc. Zadanie manipulacji jest planowane w postaci ciągu prostych czynności (podstawowych umiejętności manipulacyjnych) bazujących na danych z różnych czujników. Przedstawiono także implementację układu sterowania z wykorzystaniem struktury programowej ramowej MRROC++.

C. Zieliński, W. Szynkiewicz, P. Trojanek, and M. Majchrowski

Sterowanie zespołu heterogenicznych robotów na przykładzie pchania pudła

in IX Krajowa Konferencja Robotyki – Postępy robotyki: Systemy i współdziałanie robotów, 2006, vol. 2, pp. 299–308

[ BIB | URL ]

@inproceedings{ZielinskiWarsaw2006b-twiki,
  author = {Zieliński, Cezary and Szynkiewicz, Wojciech and Trojanek, Piotr and Majchrowski, M.},
  booktitle = {IX Krajowa Konferencja Robotyki -- Postępy robotyki: Systemy i~współdziałanie robotów},
  title = {Sterowanie zespołu heterogenicznych robotów na przykładzie pchania pudła},
  year = {2006},
  editor = {Tchoń, K.},
  volume = {2},
  pages = {299--308},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2006/Pudlo.pdf},
  lang = {en},
  location = {Piechowice, 13--16 September 2006},
  twiki = {article},
  note = {Zielinski}
}

C. Zieliński, W. Szynkiewicz, K. Mianowski, A. Rydzewski, and T. Winiarski

Efektory robota usługowego do dwuręcznej manipulacji z czuciem

in IX Krajowa Konferencja Robotyki – Postępy Robotyki: Systemy i współdziałanie robotów, 2006, vol. 2, pp. 257–266

[ BIB | abstract | URL ]

@inproceedings{ZielinskiWarsaw2006a-twiki,
  author = {Zieliński, Cezary and Szynkiewicz, Wojciech and Mianowski, K. and Rydzewski, A. and Winiarski, Tomasz},
  booktitle = {IX Krajowa Konferencja Robotyki -- Postępy Robotyki: Systemy i~współdziałanie robotów},
  title = {Efektory robota usługowego do dwuręcznej manipulacji z~czuciem},
  year = {2006},
  editor = {Tchoń, K.},
  volume = {2},
  pages = {257--266},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2006/Efektor-kkr9.pdf},
  conference = {kkr9},
  projects = {GrantMNiI4T11A00325},
  lang = {en},
  location = {Piechowice, 13--16 September 2006},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Effectors of a~Service Robot Capable of Dexterous Two-Handed Manipulation - Zielinski}
}

C. Zieliński, W. Szynkiewicz, T. Winiarski, and M. Staniak
Rubik’s Cube Puzzle as a Benchmark for Service Robots
in 12th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2006, 2006, pp. 579–584
[ BIB | abstract | URL ]
```
@inproceedings{Zielinski2006c-twiki,
  author = {Zieliński, Cezary and Szynkiewicz, Wojciech and Winiarski, Tomasz and Staniak, Maciej},
  booktitle = {12th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2006},
  title = {Rubik's Cube Puzzle as a~Benchmark for Service Robots},
  year = {2006},
  pages = {579--584},
  month = aug,
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2006/WUT-mmar06.pdf},
  projects = {GrantMNiI4T11A00325},
  lang = {en},
  location = {Miedzyzdroje, Poland},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Zielinski}
}
```
This paper describes Rubik’s cube manipulation as an example of highly demanding benchmark task for two-handed service robot. Vision is used both for acquiring the cube (servoing) and identifying its initial configuration. During two-handed manipulation force/torque measurements are used to prevent jamming of the cube. Rubik’s cube solver, nominal trajectory generation, visual servoing, and position-force control have been successfully integrated by the MRROC++ robot programming framework.

T. Winiarski and C. Zieliński

Sterowanie siłowe w systemach dwuramiennych

in IX Krajowa Konferencja Robotyki – Postępy Robotyki: Systemy i współdziałanie robotów, 2006, vol. 2, pp. 267–276

[ BIB | abstract | URL ]

@inproceedings{TWCZ-KKR9-06-twiki,
  author = {Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {IX Krajowa Konferencja Robotyki -- Postępy Robotyki: Systemy i~współdziałanie robotów},
  title = {Sterowanie siłowe w~systemach dwuramiennych},
  year = {2006},
  editor = {Tchoń, K.},
  volume = {2},
  pages = {267--276},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2006/sila-kkr9.pdf},
  conference = {kkr9},
  projects = {GrantMNiI4T11A00325},
  lang = {en},
  location = {Piechowice, 13--16 September 2006},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Zielinski}
}

W. Szynkiewicz, C. Zieliński, W. Czajewski, and T. Winiarski
Control Architecture for Sensor-Based Two-Handed Manipulation
in CISM Courses and Lectures – 16th CISM–IFToMM Symposium on Robot Design, Dynamics and Control, RoManSy’06, June 20–24, Wien, New York, 2006, no. 487, pp. 237–244
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Szynkiewicz:06-06Romansy-twiki,
  author = {Szynkiewicz, Wojciech and Zieliński, Cezary and Czajewski, W. and Winiarski, Tomasz},
  booktitle = {CISM Courses and Lectures -- 16th CISM--IFToMM Symposium on Robot Design, Dynamics and Control, RoManSy'06, June 20--24},
  title = {{Control Architecture for Sensor-Based Two-Handed Manipulation}},
  year = {2006},
  address = {Wien, New York},
  editor = {T.~Zielińska and C.~Zieliński},
  note = {Zielinski},
  number = {487},
  pages = {237--244},
  publisher = {Springer},
  doi = {10.1007/3-211-38927-X_31},
  projects = {GrantMNiI4T11A00325},
  lang = {en},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2006/2hand-manip-final-romansy2006.pdf}
}
```
In this paper we propose a sensor-based control architecture for two- handed robotic manipulation in a partially structured environment. We deal with two major aspects of sensor-based manipulation: visual localisation and recognition of objects and utilization of force and torque measurements. We also take into account that service robots should be endowed with reasoning capabilities about motions that have to executed and that high level operations must be translated into trajectories to be executed by the manipulators. As a benchmark task we chose the manipulation of Rubik’s cube.
M. Staniak and C. Zieliński
Serwomechanizmy wizyjne - część 2
Pomiary-Automatyka-Kontrola PAK, no. 11, pp. 30–34, 2006
[ BIB | abstract | URL ]
```
@article{stanziel07pak2-twiki,
  author = {Staniak, Maciej and Zieliński, Cezary},
  title = {Serwomechanizmy wizyjne - część 2},
  journal = {Pomiary-Automatyka-Kontrola PAK},
  year = {2006},
  number = {11},
  pages = {30--34},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2006/StaZie06PakDraft.pdf},
  projects = {GrantMNiI4T11A00325},
  lang = {pl},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Zielinski}
}
```
Dzięki stałemu zwiększaniu mocy obliczeniowej komputerów oraz intensywnemu rozwojowi metod sterowania robotów stało się możliwe wykorzystanie ich nie tylko w przemyÂśle, ale również do wykonywania zadań usługowych. Istotnym elementem układów sterowania robotów usługowych jest zdolnoÂść do przetwarzania informacji wizyjnej otrzymywanej z otoczenia robota. Artykuł stanowi wprowadzenie w zagadnienia związane z wykorzystywaniem kamer do sterowania ruchem robotów. Jego głównym celem jest przedstawienie struktur serwomechanizmów wizyjnych. Praca przedstawia wady i zalety przytoczonych struktur. Ponieważ artykuł ma charakter wprowadzający w dziedzinę, na początku zdefiniowano podstawowe pojęcia związane ze sterowaniem robotami.
M. Staniak and C. Zieliński
Serwomechanizmy wizyjne - część 1
Pomiary-Automatyka-Kontrola PAK, no. 5, pp. 9–12, 2006
[ BIB | abstract | URL ]
```
@article{stanziel07pak1-twiki,
  author = {Staniak, Maciej and Zieliński, Cezary},
  title = {Serwomechanizmy wizyjne - część 1},
  journal = {Pomiary-Automatyka-Kontrola PAK},
  year = {2006},
  number = {5},
  pages = {9--12},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2006/StaZie06PakDraft.pdf},
  projects = {GrantMNiI4T11A00325},
  lang = {pl},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Zielinski}
}
```
Dzięki stałemu zwiększaniu mocy obliczeniowej komputerów oraz intensywnemu rozwojowi metod sterowania robotów stało się możliwe wykorzystanie ich nie tylko w przemyśle, ale również do wykonywania zadań usługowych. Istotnym elementem układów sterowania robotów usługowych jest zdolność do przetwarzania informacji wizyjnej otrzymywanej z otoczenia robota. Artykuł stanowi wprowadzenie w zagadnienia związane z wykorzystywaniem kamer do sterowania ruchem robotów. Jego głównym celem jest przedstawienie struktur serwomechanizmów wizyjnych. Praca przedstawia wady i zalety przytoczonych struktur. Ponieważ artykuł ma charakter wprowadzający w dziedzinę, na początku zdefiniowano podstawowe pojęcia związane ze sterowaniem robotami.
T. Kornuta, M. Wojtyra, K. Mianowski, and C. Zieliński
Kalibracja systemu wielorobotowego
in IX Krajowa Konferencja Robotyki – Postępy Robotyki: Systemy i współdziałanie robotów, 2006, vol. 2, pp. 97–106
[ BIB | abstract | URL ]
```
@inproceedings{KornutaWarszawa2006-twiki,
  author = {Kornuta, Tomasz and Wojtyra, M. and Mianowski, K. and Zieliński, Cezary},
  booktitle = {IX Krajowa Konferencja Robotyki -- Postępy Robotyki: Systemy i~współdziałanie robotów},
  title = {Kalibracja systemu wielorobotowego},
  year = {2006},
  editor = {Tchoń, K.},
  volume = {2},
  pages = {97--106},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2006/kkr9_kalibracja_ukladu.pdf},
  projects = {GrantMNiI4T11A00325},
  lang = {pl},
  location = {Piechowice, 13--16 Września 2006},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {inbook},
  note = {Zielinski}
}
```
CALIBRATION OF A ROBOTIC SYSTEM This paper presents method for calibration of a robotic system consisting of multiple ma- nipulators with the aid of a passive parallel measurement robot POLMAN-6L. Measurement manipulator is used to measure in multiple points positions and orientations of the ends of one manipulator after another. Those measures are next used in calculations of the translations and rotations between measured robots and measurement manipulator base coordinates systems. The paper describes not only calibration algorithm, but also construction of the parallel mea- surement robot and software used during the experiments. Finally results for calibration of a robotic system consisting of two IRp-6 manipulators are presented.

2005

C. Zieliński

Formalizacja opisu struktur ramowych do programowania systemów wielorobotowych

in VIII Krajowa Konferencja Robotyki – Postępy Robotyki: Przemysłowe i medyczne systemy robotyczne, 2005, vol. 2, pp. 53–66

[ BIB ]

@inproceedings{Zie:04KKR-pl,
  author = {Zieliński, Cezary},
  booktitle = {VIII Krajowa Konferencja Robotyki -- Postępy Robotyki: Przemysłowe i~medyczne systemy robotyczne},
  title = {{Formalizacja opisu struktur ramowych do programowania systemów wielorobotowych}},
  year = {2005},
  note = {Zielinski},
  pages = {53--66},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  volume = {2},
  lang = {en},
  location = {Polanica Zdrój, 23--25 Czerwca},
  place = {Warszawa}
}

C. Zieliński

Formal approach to the design of robot programming frameworks: the behavioural control case

Bulletin of the Polish Academy of Sciences – Technical Sciences, vol. 53, no. 1, pp. 57–67, Mar. 2005

[ BIB ]

@article{Zie:05BulPAN,
  author = {Zieliński, Cezary},
  title = {Formal approach to the design of robot programming frameworks: the behavioural control case},
  journal = {Bulletin of the Polish Academy of Sciences -- Technical Sciences},
  year = {2005},
  volume = {53},
  pages = {57--67},
  number = {1},
  month = mar,
  howpublished = {http://www.ia.pw.edu.pl/~zielinsk/BiuletynPAN.pdf},
  lang = {en},
  note = {Zielinski}
}

C. Zieliński

Systematic Approach to the Design of Robot Programming Frameworks

in Proceedings of the 11th IEEE International Conference on Methods and Models in Automation and Robotics (on CD), 2005, pp. 639–646

[ BIB ]

@inproceedings{Zielinski2005,
  author = {Zieliński, Cezary},
  title = {Systematic Approach to the Design of Robot Programming Frameworks},
  booktitle = {Proceedings of the 11th IEEE International Conference on Methods and Models in Automation and Robotics (on CD)},
  year = {2005},
  pages = {639--646},
  month = {29 August -- 1 September},
  publisher = {Technical University of Szczecin},
  howpublished = {http://www.ia.pw.edu.pl/~zielinsk/MMAR05Zielinski.pdf},
  isbn = {83-60140-85-5},
  lang = {en},
  location = {Miedzyzdroje, Poland},
  note = {Zielinski}
}

C. Zieliński, W. Szynkiewicz, and T. Winiarski

Applications of MRROC++ Robot Programming Framework

in Proceedings of the 5th International Workshop on Robot Motion and Control, RoMoCo’05, Dymaczewo, Poland, 2005, pp. 251–257

[ BIB | abstract | URL ]

@inproceedings{Zie:05RoMoCo-twiki,
  author = {Zieliński, Cezary and Szynkiewicz, Wojciech and Winiarski, Tomasz},
  booktitle = {Proceedings of the 5th International Workshop on Robot Motion and Control, RoMoCo'05, Dymaczewo, Poland},
  title = {Applications of {MRROC++} Robot Programming Framework},
  year = {2005},
  editor = {Kozłowski, K.},
  pages = {251--257},
  month = jun,
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2005/mrrocpp_applications_romoco2005.pdf},
  projects = {GrantMNiI4T11A00325},
  howpublished = {http://www.ia.pw.edu.pl/~zielinsk/romoco05.pdf},
  lang = {en},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Zielinski}
}

T. Winiarski and C. Zieliński

Stanowisko do badania algorytmów sterowania pozycyjno–siłowego robotów

in Postępy Robotyki: Sterowanie robotów z percepcją otoczenia, 2005, vol. 1, pp. 85–94

[ BIB | URL ]

@inproceedings{WiniarskiZielinski:StanowiskoBadawcze-KKR2004-twiki,
  author = {Winiarski, Tomasz and Zieliński, Cezary},
  booktitle = {Postępy Robotyki: Sterowanie robotów z~percepcją otoczenia},
  title = {{Stanowisko do badania algorytmów sterowania pozycyjno–siłowego robotów}},
  year = {2005},
  month = jun,
  note = {Position-force controller experimental station - Zielinski},
  pages = {85--94},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  volume = {1},
  conference = {kkr8},
  projects = {GrantMNiI4T11A00325},
  lang = {en},
  location = {Polanica Zdrój},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2004/sila-kkr2004.pdf}
}

T. Winiarski and C. Zieliński

Implementation of Position–Force Control in MRROC++

in Proceedings of the 5th International Workshop on Robot Motion and Control, RoMoCo’05, Dymaczewo, Poland,

2005, pp. 259–264 [ BIB | abstract | URL ]

@incollection{Win:05RoMoCo-twiki,
  author = {Winiarski, Tomasz and Zieliński, Cezary},
  title = {Implementation of Position--Force Control in {MRROC++}},
  booktitle = {Proceedings of the 5th International Workshop on Robot Motion and Control, RoMoCo'05, Dymaczewo, Poland},
  year = {2005},
  pages = {259--264},
  month = jun,
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2005/mrrocpp_force_romoco05.pdf},
  conference = {romoco05},
  projects = {GrantMNiI4T11A00325},
  lang = {en},
  owner = {yoyek},
  timestamp = {2012.04.12},
  twiki = {article},
  note = {Zielinski}
}

2004

T. Zielińska and C. Zieliński

Design of machines: historical facts related to the development of walking machines

in Design of machines: historical facts related to the development of walking machines, 2004, vol. 2, pp. 924–928

[ BIB ]

@inproceedings{Zielinski:2004:congress,
  author = {Zielińska, Teresa and Zieliński, Cezary},
  title = {Design of machines: historical facts related to the development of walking machines},
  booktitle = {Design of machines: historical facts related to the development of walking machines},
  year = {2004},
  editor = {Huang, Tian},
  pages = {924--928},
  publisher = {China Machine Press},
  volume = {2},
  month = {1-4 April},
  lang = {en},
  location = {Tianjin, China},
  note = {Zielinski}
}

C. Zieliński

Specification of behavioural embodied agents

in Fourth International Workshop on Robot Motion and Control (RoMoCo’04), 2004, pp. 79–84

[ BIB ]

@inproceedings{Zie:04a,
  author = {Zieliński, Cezary},
  title = {Specification of behavioural embodied agents},
  booktitle = {Fourth International Workshop on Robot Motion and Control (RoMoCo'04)},
  year = {2004},
  editor = {Kozłowski, K.},
  pages = {79--84},
  month = jun,
  lang = {en},
  location = {Puszczykowo, Poland},
  note = {Zielinski}
}

W. Czajewski, M. Staniak, and C. Zieliński

Pewne aspekty wykorzystania informacji wizyjnej w robotach usługowych

Postępy Robotyki: Sterowanie robotów z percepcją otoczenia, vol. 1, pp. 53–64, Jun. 2004

[ BIB ]

@article{czajstaziel04kkr-twiki,
  author = {Czajewski, W. and Staniak, Maciej and Zieliński, Cezary},
  title = {Pewne aspekty wykorzystania informacji wizyjnej w robotach usługowych},
  year = {2004},
  volume = {1},
  pages = {53--64},
  month = jun,
  booktitle = {Postępy Robotyki: Sterowanie robotów z~percepcją otoczenia},
  projects = {GrantMNiI4T11A00325},
  lang = {pl},
  location = {Polanica Zdrój},
  publisher = {Wydawnictwa Komunikacji i~Łączności},
  twiki = {article},
  note = {Some aspects of using vision information for service robots (in Polish) - Zielinski}
}

2003

C. Zieliński, K. Mianowski, K. Nazarczuk, and W. Szynkiewicz

A Prototype Robot for Polishing and Milling Large Objects

Industrial Robot, vol. 30, no. 1, pp. 67–76, Jan. 2003

[ BIB ]

@article{Zie03a,
  author = {Zieliński, Cezary and Mianowski, K. and Nazarczuk, K. and Szynkiewicz, W.},
  journal = {Industrial Robot},
  title = {{A~Prototype Robot for Polishing and Milling Large Objects}},
  year = {2003},
  month = jan,
  note = {Zielinski},
  number = {1},
  pages = {67--76},
  volume = {30},
  lang = {en}
}

C. Zieliński

Podstawy projektowania układów cyfrowych

Wydawnictwo Naukowe PWN, 2003 [ BIB | URL ]

@book{ZielPodstProjUC,
  title = {Podstawy projektowania układów cyfrowych},
  publisher = {Wydawnictwo Naukowe PWN},
  year = {2003},
  author = {Zieliński, Cezary},
  lang = {pl},
  place = {Warszawa},
  url = {http://robotyka.ia.pw.edu.pl/papers/zielinski_errata.pdf},
  note = {Zielinski}
}

A. Woźniak, W. Szynkiewicz, and C. Zieliński

Robot controller with a self-measurement capability enabling the identification of friction

Archives of Control Sciences, vol. 13, no. 4, pp. 391–414, 2003

[ BIB ]

@article{WozniakSzynkiewiczZielinski:RobotController2003,
  author = {Woźniak, A. and Szynkiewicz, Wojciech and Zieliński, Cezary},
  journal = {Archives of Control Sciences},
  title = {{Robot controller with a~self-measurement capability enabling the identification of friction}},
  year = {2003},
  note = {Zielinski},
  number = {4},
  pages = {391--414},
  volume = {13},
  lang = {en}
}

C. Zieliński

A Unified Formal Description of Behavioural and Deliberative Robotic Multi-Agent Systems

in 7th International IFAC Symposium on Robot Control (SYROCO), 2003, vol. 7, pp. 479–486

[ BIB ]

@inproceedings{Zie:03b,
  author = {Zieliński, Cezary},
  title = {A~Unified Formal Description of Behavioural and Deliberative Robotic Multi-Agent Systems},
  booktitle = {7th International IFAC Symposium on Robot Control (SYROCO)},
  year = {2003},
  volume = {7},
  pages = {479--486},
  lang = {en},
  note = {Zielinski}
}

2002

C. Zieliński

Narzędzie do szybkiej weryfikacji koncepcji układu sterowania urządzenia mechatronicznego.

in Pomiary – Automatyka – Kontrola PAK. nr 1, 2002, pp. 22–24

[ BIB ]

@inproceedings{Zielinski:2002:PAK,
  author = {Zieliński, Cezary},
  booktitle = {Pomiary – Automatyka – Kontrola PAK. nr 1,},
  title = {Narzędzie do szybkiej weryfikacji koncepcji układu sterowania urządzenia mechatronicznego.},
  year = {2002},
  month = jan,
  note = {Zielinski},
  pages = {22--24}
}

C. Zieliński and G. Seet

Integrating Sensors with Robots

in Robotics Research Centre (RRC) Journal, NTU Singapore, 2002, pp. 15–18

[ BIB ]

@inproceedings{Zielinski:2002:RRC,
  author = {Zieliński, Cezary and Seet, G.},
  title = {Integrating Sensors with Robots},
  booktitle = {Robotics Research Centre (RRC) Journal, NTU Singapore},
  year = {2002},
  pages = {15--18},
  month = feb,
  lang = {en},
  note = {Zielinski}
}

C. Zieliński

Motion generators in MRROC++ based robot controller

in 14th CISM–IFToMM Symposium on Robotics, Ro.Man.Sy’02, Udine, Italy, CISM Courses and Lectures no.438,

G. Bianchi, J.-P. Guinot, and C. Rzymkowski, Eds. Wien, New York: Springer, 2002, pp. 299–306 [ BIB | URL ]

@incollection{Zie:03RoManSy,
  author = {Zieliński, Cezary},
  title = {Motion generators in {MRROC++} based robot controller},
  booktitle = {14th CISM--IFToMM Symposium on Robotics, Ro.Man.Sy'02, Udine, Italy, CISM Courses and Lectures no.438},
  publisher = {Springer},
  year = {2002},
  editor = {Bianchi, G. and Guinot, J-P. and Rzymkowski, C.},
  pages = {299--306},
  address = {Wien, New York},
  month = jul,
  lang = {en},
  url = {http://www.ia.pw.edu.pl/~zielinsk/romansy2.pdf},
  note = {Zielinski}
}

C. Zieliński

Reaction to Errors in Robot Systems

in Third International Workshop on Robot Motion and Control, RoMoCo’02, Bukowy Dworek, Poland, 2002, pp. 201–208

[ BIB ]

@inproceedings{Zie:02a,
  author = {Zieliński, Cezary},
  title = {Reaction to Errors in Robot Systems},
  booktitle = {Third International Workshop on Robot Motion and Control, RoMoCo'02, Bukowy Dworek, Poland},
  year = {2002},
  pages = {201--208},
  month = nov,
  note = {Zielinski},
  lang = {en}
}

2001

C. Zieliński

Hasła: Automat, Automat cyfrowy, Automat mikroprogramowany, Automat komórkowy

in Nowa Encyklopedia Powszechna PWN, vol. 1,

PWN, 2001, pp. 529–531 [ BIB ]

@incollection{Ziel90encyklopedia1,
  author = {Zieliński, Cezary},
  booktitle = {Nowa Encyklopedia Powszechna PWN},
  publisher = {PWN},
  title = {{Hasła: Automat, Automat cyfrowy, Automat mikroprogramowany, Automat komórkowy}},
  year = {2001},
  note = {Zielinski},
  pages = {529--531},
  volume = {1},
  lang = {pl}
}

C. Zieliński

By How Much Should a General Purpose Programming Language be Extended to Become a Multi-Robot System Programming Language?

Advanced Robotics, vol. 15, no. 1, pp. 71–96, 2001

[ BIB ]

@article{Zie:01a,
  author = {Zieliński, Cezary},
  journal = {Advanced Robotics},
  title = {{By How Much Should a~General Purpose Programming Language be Extended to Become a~Multi-Robot System Programming Language?}},
  year = {2001},
  note = {Zielinski},
  number = {1},
  pages = {71--96},
  volume = {15},
  howpublished = {http://www.ia.pw.edu.pl/~zielinsk/advrob.pdf},
  lang = {en}
}

C. Zieliński, W. Szynkiewicz, K. Mianowski, and K. Nazarczuk

Mechatronic Design of Open-Structure Multi-Robot Controllers

Mechatronics, vol. 11, no. 8, pp. 987–1000, Nov. 2001

[ BIB ]

@article{Zie:01b:Mechatronics,
  author = {Zieliński, Cezary and Szynkiewicz, W. and Mianowski, K. and Nazarczuk, K.},
  title = {Mechatronic Design of Open-Structure Multi-Robot Controllers},
  journal = {Mechatronics},
  year = {2001},
  volume = {11},
  pages = {987--1000},
  number = {8},
  month = nov,
  lang = {en},
  note = {Zielinski}
}

C. Zieliński

Metody realizacji różnorodnych sposobów programowania systemów wielorobotowych

in VII Krajowa Konferencja Robotyki – Prace Instytutu Cybernetyki Technicznej Politechniki Wrocławskiej, 2001, pp. 311–319

[ BIB ]

@inproceedings{Zielinski:2001:ladek:zdroj:b,
  author = {Zieliński, Cezary},
  title = {Metody realizacji różnorodnych sposobów programowania systemów wielorobotowych},
  booktitle = {VII Krajowa Konferencja Robotyki -- Prace Instytutu Cybernetyki Technicznej Politechniki Wrocławskiej},
  year = {2001},
  pages = {311--319},
  month = {18--20 October},
  lang = {en},
  publisher = {Wydawnictwo Politechniki Wrocławskiej},
  location = {Lądek Zdrój, Poland},
  note = {Zielinski}
}

K. Antczak and C. Zieliński

Wykorzystanie krzywych B-sklejanych do generacji trajektorii dla robota frezującego

in VII Krajowa Konferencja Robotyki – Prace Instytutu Cybernetyki Technicznej Politechniki Wrocławskiej, 2001, pp. 251–258

[ BIB ]

@inproceedings{Zielinski:2001:ladek:zdroj:a,
  author = {Antczak, K. and Zieliński, Cezary},
  title = {Wykorzystanie krzywych B-sklejanych do generacji trajektorii dla robota frezującego},
  booktitle = {VII Krajowa Konferencja Robotyki -- Prace Instytutu Cybernetyki Technicznej Politechniki Wrocławskiej},
  year = {2001},
  pages = {251--258},
  month = {5--8 Września},
  lang = {en},
  publisher = {Wydawnictwo Politechniki Wrocławskiej},
  location = {Lądek Zdrój, Poland},
  note = {Zielinski}
}

C. Zieliński

A Quasi-Formal Approach to Structuring Multi-Robot System Controllers

in Second International Workshop on Robot Motion and Control, RoMoCo’01, 2001, pp. 121–128

[ BIB ]

@inproceedings{Zie:01b0,
  author = {Zieliński, Cezary},
  booktitle = {{Second International Workshop on Robot Motion and Control, RoMoCo'01}},
  title = {{A~Quasi-Formal Approach to Structuring Multi-Robot System Controllers}},
  year = {2001},
  month = {18--20 October},
  note = {Zielinski},
  pages = {121--128},
  lang = {en},
  location = {Bukowy Dworek, Poland}
}

2000

C. Zieliński

Prototyping Tool for Validating Complex Robot Systems

in 6th International Conference on Control, Automation, Robotics and Vision, ICARCV’2000, Singapore, 2000, pp. on CD-ROM

[ BIB ]

@inproceedings{Zie:00:seet:a,
  author = {Zieliński, Cezary},
  title = {Prototyping Tool for Validating Complex Robot Systems},
  booktitle = {6th International Conference on Control, Automation, Robotics and Vision, ICARCV'2000, Singapore},
  year = {2000},
  pages = {on CD-ROM},
  month = dec,
  lang = {en},
  note = {Zielinski}
}

C. Zieliński

Programming and Control of Multi-Robot Systems

in 6th International Conference on Control, Automation, Robotics and Vision, ICARCV’2000, Singapore, 2000, pp. on CD-ROM

[ BIB ]

@inproceedings{Zie:00a,
  author = {Zieliński, Cezary},
  title = {Programming and Control of Multi-Robot Systems},
  booktitle = {6th International Conference on Control, Automation, Robotics and Vision, ICARCV'2000, Singapore},
  year = {2000},
  pages = {on CD-ROM},
  month = dec,
  lang = {en},
  note = {Zielinski}
}

C. Zieliński

Implementation of Control Systems for Autonomous Robots

in 6th Int. Conf. on Control, Automation, Robotics and Vision, ICARCV’2000, 5–8 December 2000, Singapore (on CD-ROM), 2000

[ BIB ]

@conference{ZielICARV:2000,
  author = {Zieliński, Cezary},
  title = {Implementation of Control Systems for Autonomous Robots},
  booktitle = {6th Int. Conf. on Control, Automation, Robotics and Vision, ICARCV'2000, 5--8 December 2000, Singapore (on CD-ROM)},
  year = {2000},
  note = {Zielinski}
}

1999

C. Zieliński

The MRROC++ System

in First Workshop on Robot Motion and Control (RoMoCo’99), Kiekrz, Polska, 1999, pp. 147–152

[ BIB ]

@inproceedings{Zielinski:99,
  author = {Zieliński, Cezary},
  title = {The {MRROC++} System},
  booktitle = {First Workshop on Robot Motion and Control (RoMoCo'99)},
  year = {1999},
  pages = {147--152},
  address = {Kiekrz, Polska},
  month = jul,
  lang = {en},
  note = {Zielinski}
}

1998

C. Zieliński

Struktura i programowanie sterowników systemów wielorobotowych

in VI Krajowa Konferencja Robotyki – Prace Instytutu Cybernetyki Technicznej Politechniki Wrocławskiej, 1998, pp. 225–232

[ BIB ]

@inproceedings{Zielinski:1998:kkr:struktura,
  author = {Zieliński, Cezary},
  title = {Struktura i programowanie sterowników systemów wielorobotowych},
  booktitle = {VI Krajowa Konferencja Robotyki -- Prace Instytutu Cybernetyki Technicznej Politechniki Wrocławskiej},
  year = {1998},
  pages = {225--232},
  month = {8--11 September},
  publisher = {Wydawnictwo Politechniki Wrocławskiej},
  note = {Zielinski},
  lang = {en},
  location = {Świeradów Zdrój, Poland}
}

1997

C. Zieliński

Object–Oriented Approach to Programming Multi–Robot Systems

Proceedings of the 11th CISM IFToMM Symposium on Theory and Practice of Robots and Manipulators Ro.Man.Sy’96 1–4 July 1996, Udine, Italy, pp. 373–380, 1997

[ BIB ]

@article{Zielinski:MRROC6,
  author = {Zieliński, Cezary},
  journal = {Proceedings of the 11th CISM IFToMM Symposium on Theory and Practice of Robots and Manipulators Ro.Man.Sy'96 1--4 July 1996, Udine, Italy},
  title = {{Object--Oriented Approach to Programming Multi--Robot Systems}},
  year = {1997},
  note = {Zielinski},
  pages = {373--380},
  editors = {Morecki~A. and Bianchi~G. and Rzymkowski, C.},
  lang = {en},
  publisher = {Springer Verlag, Wien, New York}
}

C. Zieliński

Object-Oriented Robot Programming

Robotica, vol. 15, pp. 41–48, 1997

[ BIB ]

@article{Zie:97a,
  author = {Zieliński, Cezary},
  title = {Object-Oriented Robot Programming},
  journal = {Robotica},
  year = {1997},
  volume = {15},
  pages = {41--48},
  lang = {en},
  note = {Zielinski}
}

C. Zieliński

Object–Oriented Programming of Multi–Robot Systems Utilising Sensory Information.

3rd ECPD International Conference on Advanced Robotics, Intelligent Automation and Active Systems, pp. 176–181, 15ADAD

[ BIB ]

@article{Zielinski:1997:ECPD,
  author = {Zieliński, Cezary},
  title = {Object–Oriented Programming of Multi–Robot Systems Utilising Sensory Information.},
  journal = {3rd ECPD International Conference on Advanced Robotics, Intelligent Automation and Active Systems},
  year = {1997},
  pages = {176--181},
  month = sep,
  date = {15--17},
  lang = {en},
  place = {Bremen, Germany},
  note = {Zielinski}
}

C. Zieliński

Object–Oriented Programming of Multi–Robot Systems.

Proceedings of the 4rd International Symposium on Methods and Models in Automation and Robotics MMAR’97, pp. 1121–1126, 26ADAD

[ BIB ]

@article{Zielinski:1997:Object,
  author = {Zieliński, Cezary},
  title = {Object–Oriented Programming of Multi–Robot Systems.},
  journal = {Proceedings of the 4rd International Symposium on Methods and Models in Automation and Robotics MMAR'97},
  year = {1997},
  pages = {1121--1126},
  month = aug,
  date = {26--29},
  lang = {en},
  place = {Międzyzdroje, Poland},
  note = {Zielinski}
}

1996

C. Zieliński

Reactive Robot Control Applied to Acquiring Moving Objects

Proceedings of the 3rd International Symposium on Methods and Models in Automation and Robotics MMAR’96, vol. 3, pp. 893–898, 10ADAD

[ BIB ]

@article{React,
  author = {Zieliński, Cezary},
  title = {Reactive Robot Control Applied to Acquiring Moving Objects},
  journal = {Proceedings of the 3rd International Symposium on Methods and Models in Automation and Robotics MMAR'96},
  year = {1996},
  volume = {3},
  pages = {893--898},
  month = sep,
  date = {10--13},
  lang = {en},
  place = {Międzyzdroje, Poland},
  note = {Zielinski}
}

C. Zieliński

Zastosowanie sterowania reakcyjnego do chwytania ruchomych przedmiotów

V Krajowa Konferencja Robotyki, 24ADAD

[ BIB ]

@article{Zie:96b,
  author = {Zieliński, Cezary},
  journal = {V Krajowa Konferencja Robotyki},
  title = {{Zastosowanie sterowania reakcyjnego do chwytania ruchomych przedmiotów}},
  year = {1996},
  month = {wrzesień},
  note = {Zielinski},
  date = {24--26},
  lang = {pl},
  place = {Świeradów Zdrój},
  publisher = {Wydawnictwo Politechniki Wrocławskiej}
}

1995

C. Zieliński

Control of a Multi-Robot System

2nd Int. Symp. Methods and Models in Automation and Robotics MMAR’95, Międzyzdroje, Poland, pp. 603–608, 1995

[ BIB ]

@article{Zie:95b,
  author = {Zieliński, Cezary},
  title = {Control of a~Multi-Robot System},
  journal = {2nd Int. Symp. Methods and Models in Automation and Robotics MMAR'95, Międzyzdroje, Poland},
  year = {1995},
  pages = {603--608},
  month = {30 Aug.--2 Sept.},
  lang = {en},
  note = {Zielinski}
}

C. Zieliński

Robot Programming Methods

Warsaw: Wydział Elektroniki i Technik Informacyjnych, Politechnika Warszawska, Rozprawa habilitacyjna, Oficyna Wydawnicza Politechniki Warszawskiej, 1995 [ BIB ]

@book{Zie:95a,
  title = {Robot Programming Methods},
  publisher = {Wydział Elektroniki i Technik Informacyjnych, Politechnika Warszawska, Rozprawa habilitacyjna, Oficyna Wydawnicza Politechniki Warszawskiej},
  year = {1995},
  author = {Zieliński, Cezary},
  address = {Warsaw},
  lang = {en},
  note = {Zielinski}
}

C. Zieliński

Conference Report: Mixed Bag

in Mechatronics Conference. Assembly Automation, 1995, vol. 15, pp. 31–33

[ BIB ]

@inproceedings{Zielinski:1995:Report,
  author = {Zieliński, Cezary},
  title = {Conference Report: Mixed Bag},
  journal = {Mechatronics Conference. Assembly Automation},
  year = {1995},
  volume = {15},
  pages = {31--33},
  lang = {en},
  note = {Zielinski}
}

C. Zieliński

Sensorimotor robot control

in 7th IFAC/IFORS/IMACS Symposium on Large Scale Systems: Theory and Applications, 1995, vol. 2, pp. 797–802

[ BIB ]

@inproceedings{Zielinski:1995:IFAC,
  author = {Zieliński, Cezary},
  title = {Sensorimotor robot control},
  journal = {7th IFAC/IFORS/IMACS Symposium on Large Scale Systems: Theory and Applications},
  year = {1995},
  volume = {2},
  pages = {797--802},
  month = {10--13 July},
  location = {London, United Kingdom},
  lang = {en},
  note = {Zielinski}
}

1994

C. Zieliński

Reaction based robot control

Mechatronics, vol. 4, no. 8, pp. 843–860, 1994

[ BIB ]

@article{Zie:94c,
  author = {Zieliński, Cezary},
  journal = {Mechatronics},
  title = {{Reaction based robot control}},
  year = {1994},
  note = {Zielinski},
  number = {8},
  pages = {843--860},
  volume = {4},
  lang = {en},
  publisher = {Elsevier Science}
}

C. Zieliński

Distributed Software for Mechatronic Systems

International Journal of Intelligent Mechatronics: Design and Production, vol. 1, no. 1, pp. 11–24, 1994

[ BIB ]

@article{SysWielRob1,
  author = {Zieliński, Cezary},
  journal = {International Journal of Intelligent Mechatronics: Design and Production},
  title = {{Distributed Software for Mechatronic Systems}},
  year = {1994},
  note = {Zielinski},
  number = {1},
  pages = {11--24},
  volume = {1},
  lang = {en}
}

C. Zieliński

Sensory Robot Motions

Archives of Control Sciences, vol. 3, no. 1, pp. 5–20, 1994

[ BIB ]

@article{Zie:94a,
  author = {Zieliński, Cezary},
  journal = {Archives of Control Sciences},
  title = {{Sensory Robot Motions}},
  year = {1994},
  note = {Zielinski},
  number = {1},
  pages = {5--20},
  volume = {3},
  lang = {en}
}

1993

C. Zieliński

Controller structure for robots with sensors

Mechatronics, vol. 3, no. 5, pp. 671–686, 1993

[ BIB ]

@article{Zie:93c,
  author = {Zieliński, Cezary},
  journal = {Mechatronics},
  title = {{Controller structure for robots with sensors}},
  year = {1993},
  note = {Zielinski},
  number = {5},
  pages = {671--686},
  volume = {3},
  lang = {en},
  publisher = {Elsevier Science}
}

C. Zieliński

Robot Object-Oriented Pascal Library: ROOPL

Journal of Theoretical and Applied Mechanics, vol. 31, no. 3, pp. 525–535, 1993

[ BIB ]

@article{Zie:93b,
  author = {Zieliński, Cezary},
  journal = {Journal of Theoretical and Applied Mechanics},
  title = {{Robot Object-Oriented Pascal Library: ROOPL}},
  year = {1993},
  note = {Zielinski},
  number = {3},
  pages = {525--535},
  volume = {31},
  lang = {en}
}

Z. T. and C. Zieliński

Zastosowanie sieci neuronowych w układach sterowania robotów.

IV Krajowa Konferencja Robotyki, vol. 2, pp. 225–231, 1993

[ BIB ]

@article{Zie:KKR:b,
  author = {T., Zielińska and Zieliński, Cezary},
  title = {Zastosowanie sieci neuronowych w układach sterowania robotów.},
  journal = {IV Krajowa Konferencja Robotyki},
  year = {1993},
  volume = {2},
  pages = {225--231},
  month = {22--24 września},
  lang = {pl},
  place = {Wrocław},
  publisher = {Wydawnictwo Politechniki Wrocławskiej},
  note = {Zielinski}
}

C. Zieliński

Sterownik robotów przeznaczony do celów badawczych

IV Krajowa Konferencja Robotyki, vol. 1, pp. 73–80, 1993

[ BIB ]

@article{Zie:KKR:a,
  author = {Zieliński, Cezary},
  journal = {IV Krajowa Konferencja Robotyki},
  title = {{Sterownik robotów przeznaczony do celów badawczych}},
  year = {1993},
  month = {22--24 września},
  note = {Zielinski},
  pages = {73--80},
  volume = {1},
  lang = {pl},
  place = {Wrocław},
  publisher = {Wydawnictwo Politechniki Wrocławskiej}
}

1992

C. Zieliński

Sensor Instructions in Object Level Robot Programming Languages

Archiwum Budowy Maszyn, vol. 39, no. 1–2, pp. 43–54, 1992

[ BIB ]

@article{Ziel92sensObj,
  author = {Zieliński, Cezary},
  journal = {Archiwum Budowy Maszyn},
  title = {{Sensor Instructions in Object Level Robot Programming Languages}},
  year = {1992},
  note = {Zielinski},
  number = {1--2},
  pages = {43--54},
  volume = {39},
  lang = {en}
}

C. Zieliński

Object Level Robot Programming Languages

in Robotics Research and Applications,

A. Morecki, W. Muszyński, and K. Tchoń, Eds. Warsaw: WNT Warszawa, 1992, pp. 221–235 [ BIB ]

@incollection{Zie:92a,
  author = {Zieliński, Cezary},
  title = {Object Level Robot Programming Languages},
  booktitle = {Robotics Research and Applications},
  year = {1992},
  editor = {Morecki, A. and Muszyński, W. and Tchoń, K.},
  publisher = {WNT Warszawa},
  pages = {221--235},
  address = {Warsaw},
  lang = {en},
  note = {Zielinski}
}

1990

C. Zieliński

Incorporation of Sensors in Object-Level Robot Programming Language

in Proceedings of the 8-thCISM IFToMM Symposium on Theory and Practice of Robots and Manipulators Ro. Man. Sy 90, 2ADAD, pp. 418–425

[ BIB ]

@inproceedings{Zielinski:1990:iftom,
  author = {Zieliński, Cezary},
  booktitle = {Proceedings of the 8-thCISM IFToMM Symposium on Theory and Practice of Robots and Manipulators Ro. Man. Sy 90},
  title = {{Incorporation of Sensors in Object-Level Robot Programming Language}},
  year = {1990},
  editor = {Morecki, A. and Bianchi, G. and Jaworek, K.},
  month = jul,
  note = {Zielinski},
  pages = {418--425},
  publisher = {Warsaw University of Technology},
  date = {2--6},
  lang = {en},
  place = {Cracow}
}

C. Zieliński

Zastosowanie sieci Petriego do opisu działania robota wyposażonego w czujniki.

III Krajowa Konferencja Robotyki, vol. 1, pp. 330–335, 1990

[ BIB ]

@article{Zielinski:1990:KKR:d,
  author = {Zieliński, Cezary},
  title = {Zastosowanie sieci Petriego do opisu działania robota wyposażonego w czujniki.},
  journal = {III Krajowa Konferencja Robotyki},
  year = {1990},
  pages = {330--335},
  volume = {1},
  lang = {pl},
  place = {Wrocław},
  publisher = {Wydawnictwo Politechniki Wrocławskiej},
  note = {Zielinski}
}

1989

T. Zielińska and C. Zieliński

Levels of walking machine programming languages.

in Proceedings of the International Conference on Industrial Robots ROBCON’5, 1989

[ BIB ]

@inproceedings{Zielinska:1989:robcon,
  author = {Zielińska, Teresa and Zieliński, Cezary},
  title = {Levels of walking machine programming languages.},
  booktitle = {Proceedings of the International Conference on Industrial Robots ROBCON’5},
  year = {1989},
  month = {9-11 October},
  lang = {en},
  place = {Varna, Bulgaria},
  note = {Zielinski}
}

1988

C. Zieliński

Klasyfikacja i metody definiowania języków programowania robotów: zastosowanie do sformułowania języka zorientowanego na przemieszczanie obiektów.

PhD thesis, Politechnika Warszawska, Wydział Elektroniki, 1988

[ BIB ]

@phdthesis{Zielinski:1988_phd,
  author = {Zieliński, Cezary},
  title = {Klasyfikacja i metody definiowania języków programowania robotów: zastosowanie do sformułowania języka zorientowanego na przemieszczanie obiektów.},
  school = {Politechnika Warszawska, Wydział Elektroniki},
  year = {1988},
  note = {Zielinski}
}

1986

C. Zieliński

Nowoczesne techniki projektowania i wytwarzania.

in Elektronizacja nr 10,

1986, pp. 8–11 [ BIB ]

@incollection{Zielinski:1986,
  author = {Zieliński, Cezary},
  title = {Nowoczesne techniki projektowania i wytwarzania.},
  booktitle = {Elektronizacja nr 10},
  year = {1986},
  pages = {8--11},
  lang = {pl},
  note = {Zielinski}
}

1985

C. Zieliński

Semantics of the low level robot language instructions.

in Proceedings of the 15th International Symposium on Industrial Robots, 1985, pp. 952–993

[ BIB ]

@inproceedings{Zielinski:1985:Tokyo,
  author = {Zieliński, Cezary},
  title = {Semantics of the low level robot language instructions.},
  booktitle = {Proceedings of the 15th International Symposium on Industrial Robots},
  year = {1985},
  place = {Tokyo},
  pages = {952-993},
  note = {Zielinski}
}

A. Śluzek and C. Zieliński

New data types for 4/5 degree of freedom robot manipulators

in Proceedings of the 15th International Symposium on Industrial Robots, 1985, pp. 1067–1073

[ BIB ]

@inproceedings{Sluzek:1985_45dof,
  author = {Śluzek, Andrzej and Zieliński, Cezary},
  title = {New data types for 4/5 degree of freedom robot manipulators},
  booktitle = {Proceedings of the 15th International Symposium on Industrial Robots},
  year = {1985},
  pages = {1067-1073},
  place = {Tokyo},
  note = {Zielinski}
}

1984

C. Zieliński

Roboty – Konstrukcja i możliwości zastosowań

Informatyka, nr 5, pp. 5–7, 1984

[ BIB ]

@article{Zielinski:1984:konstrukcja,
  author = {Zieliński, Cezary},
  title = {Roboty -- Konstrukcja i możliwości zastosowań},
  journal = {Informatyka, nr 5},
  year = {1984},
  pages = {5--7},
  lang = {pl},
  note = {Zielinski}
}

C. Zieliński

Roboty – Proste języki programowania

Informatyka, nr 8, pp. 6–8, 1984

[ BIB ]

@article{Zielinski:1984:proste,
  author = {Zieliński, Cezary},
  title = {Roboty -- Proste języki programowania},
  journal = {Informatyka, nr 8},
  year = {1984},
  pages = {6--8},
  lang = {pl},
  note = {Zielinski}
}

C. Zieliński

Roboty – Złożone języki programowania

Informatyka, nr 9, pp. 8–11, 1984

[ BIB ]

@article{Zielinski:1984:zlozone,
  author = {Zieliński, Cezary},
  title = {Roboty -- Złożone języki programowania},
  journal = {Informatyka, nr 9},
  year = {1984},
  pages = {8--11},
  lang = {pl},
  note = {Zielinski}
}

1983

C. Zieliński

Anatomia robotów – Konstrukcja.

Elektronizacja, nr 11, pp. 16–18, 1983

[ BIB ]

@article{Zielinski:1983:konstrukcja,
  author = {Zieliński, Cezary},
  title = {Anatomia robotów -- Konstrukcja.},
  journal = {Elektronizacja, nr 11},
  year = {1983},
  pages = {16--18},
  lang = {pl},
  note = {Zielinski}
}

C. Zieliński

Anatomia robotów – Systemy sterowania.

Elektronizacja, nr 12, pp. 13–15, 1983

[ BIB ]

@article{Zielinski:1983:anatomia,
  author = {Zieliński, Cezary},
  title = {Anatomia robotów -- Systemy sterowania.},
  journal = {Elektronizacja, nr 12},
  year = {1983},
  pages = {13--15},
  lang = {pl},
  note = {Zielinski}
}