ORCID iD: 0000-0002-4348-2981

His main scientific research concerns artificial intelligence utilized in robots.

Selected projects list (start date):

2022

• Grant rektorski dla kół naukowych (KNR Bionik): Rozwój metod współdziałania robotów manipulacyjnych i mobilnych wykorzystujących framework ROS 2 (researcher)
• SMIT: Safety-aware Management of robot’s Interruptible Tasks in dynamic environments (researcher)

2018

• European Commission (EC) Active and Assisted Living Joint Programme (AAL JP) AAL-2017-059: Integrated Solution for Innovative Elderly Care (researcher)

Selected publications chronological list:

2025

1. T. Winiarski, J. Kaniuka, D. Giełdowski, J. Ostrysz, K. Radlak, and D. Kushnir
   ROS-related Robotic Systems Development with V-model-based Application of MeROS Metamodel
   arXiv:2506.08706, 2025
   [ BIB | DOI | abstract ]

   @article{winiarski2025-v-model-twiki,
     title = {ROS-related Robotic Systems Development with V-model-based Application of MeROS Metamodel},
     author = {Winiarski, Tomasz and Kaniuka, Jan and Giełdowski, Daniel and Ostrysz, Jakub and Radlak, Krystian and Kushnir, Dmytro},
     year = {2025},
     journal = {arXiv:2506.08706},
     doi = {10.48550/arXiv.2506.08706},
     twiki = {preprint}
   }
   

   As robotic systems grow increasingly complex, heterogeneous, and safety-critical, the need for structured development methodologies becomes paramount. Although frameworks like the Robot Operating System (ROS) and Model-Based Systems Engineering (MBSE) offer foundational tools, they often lack integration when used together. This paper addresses that gap by aligning the widely recognized V-model development paradigm with the MeROS metamodel SysML-based modeling language tailored for ROS-based systems. We propose a domain-specific methodology that bridges ROS-centric modelling with systems engineering practices. Our approach formalises the structure, behaviour, and validation processes of robotic systems using MeROS, while extending it with a generalized, adaptable V-model compatible with both ROS and ROS 2. Rather than prescribing a fixed procedure, the approach supports project-specific flexibility and reuse, offering guidance across all stages of development. The approach is validated through a comprehensive case study on HeROS, a heterogeneous multi-robot platform comprising manipulators, mobile units, and dynamic test environments. This example illustrates how the MeROS-compatible V-model enhances traceability and system consistency while remaining accessible and extensible for future adaptation. The work contributes a structured, tool-agnostic foundation for developers and researchers seeking to apply MBSE practices in ROS-based projects.

2. T. Winiarski, D. Giełdowski, K. Giełdowski, M. Tulik, M. Kobylecka, and J. Kunikowska
   Concepts for the use of assistive robots and artificial intelligence in a nuclear medicine facility
   Clinical and Translational Imaging, 2025
   [ BIB | DOI ]

   @article{RicoZmnWut2025-twiki,
     author = {Winiarski, Tomasz and Giełdowski, Daniel and Giełdowski, Konrad and Tulik, Monika and Kobylecka, Małgorzata and Kunikowska, Jolanta},
     journal = {Clinical and Translational Imaging},
     title = {Concepts for the use of assistive robots and artificial intelligence in a nuclear medicine facility},
     year = {2025},
     doi = {10.1007/s40336-025-00718-8},
     twiki = {article}
   }
   

2024

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

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

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

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

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

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

3. T. Winiarski, D. Giełdowski, J. Kaniuka, J. Ostrysz, and J. Sadowski
   HeROS: a miniaturised platform for research and development on Heterogeneous RObotic Systems
   arXiv:2403.04384, 2024
   [ BIB | DOI | abstract ]

   @article{HeROS-arxiv-24-twiki,
     author = {Winiarski, Tomasz and Giełdowski, Daniel and Kaniuka, Jan and Ostrysz, Jakub and Sadowski, Jakub},
     journal = {arXiv:2403.04384},
     title = {HeROS: a miniaturised platform for research and development on Heterogeneous RObotic Systems},
     year = {2024},
     doi = {10.48550/arXiv.2403.04384},
     projects = {HeROS},
     twiki = {preprint}
   }
   

   Tests and prototyping are vital in the research and development of robotic systems. Work with target hardware is problematic. Hence, in the article, a low-cost, miniaturised physical platform is presented to deal with experiments on heterogeneous robotic systems. The platform comprises a physical board with tiles of the standardised base, diverse mobile robots, and manipulation robots. The number of exemplary applications validates the usefulness of the solution.

2021

1. D. Giełdowski
   Struktura i implementacja systemu robotycznego zawierającego robota MiniRyś
   Master’s thesis, IAiIS, 2021
   Tutor: Tomasz Winiarski
   [ BIB | URL ]

   @mastersthesis{dgieldowski-msc-21-twiki,
     author = {Giełdowski, Daniel},
     school = {WEiTI},
     title = {{Struktura i implementacja systemu robotycznego zawierającego robota MiniRyś}},
     year = {2021},
     type = {Master's thesis},
     lang = {pl},
     projects = {EARL},
     organization = {IAiIS},
     publisher = {IAiIS},
     tutor = {Tomasz Winiarski},
     twiki = {msc},
     url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/student-theses/dgieldowski-msc-21-twiki.pdf}
   }
   

2020

1. T. Winiarski, W. Dudek, M. Stefańczyk, Ł. Zieliński, D. Giełdowski, and D. Seredyński
   An intent-based approach for creating assistive robots’ control systems
   arXiv:2005.12106, 2020
   [ BIB | DOI | abstract ]

   @article{winiarski-intent-20-twiki,
     author = {Winiarski, Tomasz and Dudek, Wojciech and Stefańczyk, Maciej and Zieliński, Łukasz and Giełdowski, Daniel and Seredyński, Dawid},
     journal = {arXiv:2005.12106},
     title = {An intent-based approach for creating assistive robots' control systems},
     year = {2020},
     doi = {10.48550/arXiv.2005.12106},
     projects = {aal-incare,EARL},
     twiki = {article}
   }
   

   The current research standards in robotics demand general approaches to robots’ controllers development. In the assistive robotics domain, the human-machine interaction plays a substantial role. Especially, the humans generate intents that affect robot control system. In the article an approach is presented for creating control systems for assistive robots, which reacts to users’ intents delivered by voice commands, buttons, or an operator console. The whole approach was applied to the real system consisting of customised TIAGo robot and additional hardware components. The exemplary experiments performed on the platform illustrate the motivation for diversification of human-machine interfaces in assistive robots.

2018

1. T. Winiarski, M. Bogusz, D. Giełdowski, and K. Foryszewski
   Miniaturowy robot mobilny o zmiennym sposobie lokomocji MiniRyś
   in XV Krajowa Konferencja Robotyki – Postępy robotyki, 2018, vol. 1, pp. 251–260
   [ BIB | abstract | URL ]

   @inproceedings{kkr15_minirys-twiki,
     author = {Winiarski, Tomasz and Bogusz, Maciej and Giełdowski, Daniel and Foryszewski, Kamil},
     booktitle = {XV Krajowa Konferencja Robotyki -- Postępy robotyki},
     title = {{Miniaturowy robot mobilny o~zmiennym sposobie lokomocji MiniRyś}},
     year = {2018},
     pages = {251--260},
     volume = {1},
     conference = {kkr15},
     lang = {pl},
     twiki = {inbook},
     url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2018/minirys-kkr15.pdf}
   }
   

   W artykule zaprezentowano miniaturowego robota mobilnego MiniRyś. Robot ma napęd różnicowy i z założenia może poruszać się w dwóch trybach: poziomym, gdzie zderzak stanowi trzeci punkt podparcia i pionowym, balansując. Robot, pomimo małych rozmiarów wymuszonych przez operowanie w środowisku składającym się z kwadratowych pól o boku 20 cm, wyposażony jest w rozbudowany zestaw czujników i wydajny komputer pozwalające na samodzielne nawigowanie i komunikację w ramach zespołu robotów.

2. D. Giełdowski
   Sterowanie silnikiem skokowym robota MiniRyś
   Bachelor’s thesis, IAiIS, 2018
   Tutor: Tomasz Winiarski
   [ BIB | URL ]

   @mastersthesis{dgieldowski-bsc-18-twiki,
     author = {Giełdowski, Daniel},
     school = {WEiTI},
     title = {{Sterowanie silnikiem skokowym robota MiniRyś}},
     year = {2018},
     type = {Bachelor's thesis},
     lang = {pl},
     organization = {IAiIS},
     publisher = {IAiIS},
     tutor = {Tomasz Winiarski},
     twiki = {bsc},
     url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/student-theses/dgieldowski-bsc-18-twiki.pdf}
   }