Team

Wojciech Dudek

His scientific interests focus on mobile robot control systems, their localization and navigation and harmonization of their tasks

Selected projects list (start date):

2017

2016

Grant rektorski dla kół naukowych (KNR Bionik): Platformy robotów sportowych do zawodów indywidualnych i zespołowych (researcher)

2015

Grant rektorski dla kół naukowych (KNR Bionik): Przygotowanie i przeprowadzenie zawodów robotów sportowych Bionikalia 2015 (researcher)

2013

Selected publications chronological list:

2024

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.
S. Stankevich and W. Dudek
Interpreting and learning voice commands with a Large Language Model for a robot system
in Progress in Polish Artificial Intelligence Research, 2024, no. 5, pp. 295–301
[ BIB | DOI | abstract ]
```
@inproceedings{llm-pprai-24-twiki,
  author = {Stankevich, Stanislau and Dudek, Wojciech},
  booktitle = {Progress in Polish Artificial Intelligence Research},
  title = {Interpreting and learning voice commands with a Large Language Model for a robot system},
  year = {2024},
  month = apr,
  note = {PP-RAI 2024, 5th Polish Conference on Artificial Intelligence, 18-20.04.2024 Warsaw, Poland},
  number = {5},
  pages = {295-301},
  publisher = {Warsaw University of Technology},
  doi = {10.17388/WUT.2024.0002.MiNI},
  projects = {SMIT},
  twiki = {article}
}
```
Robots are increasingly common in industry and daily life, such as in nursing homes where they can assist staff. A key challenge is developing intuitive interfaces for easy communication. The use of Large Language Models (LLMs) like GPT-4 has enhanced robot capabilities, allowing for real-time interaction and decision-making. This integration improves robots’ adaptability and functionality. This project focuses on merging LLMs with databases to improve decision-making and enable knowledge acquisition for request interpretation problems.
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.

2023

W. Dudek, D. Giełowski, M. Stefańczyk, and T. Winiarski

Robot Task Management Training Toolchain

2023

[ BIB | URL ]

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

W. Dudek, N. Miguel, and T. Winiarski
SPSysML: A meta-model for quantitative evaluation of Simulation-Physical Systems
arXiv:2303.09565, 2023
[ BIB | DOI | abstract ]
```
@article{dudek2023spsysml-twiki,
  author = {Dudek, Wojciech and Miguel, Narcis and Winiarski, Tomasz},
  journal = {arXiv:2303.09565},
  title = {{SPSysML: A meta-model for quantitative evaluation of Simulation-Physical Systems}},
  year = {2023},
  doi = {10.48550/arXiv.2303.09565},
  projects = {SMIT},
  twiki = {article}
}
```
Robotic systems are complex cyber-physical systems (CPS) commonly equipped with multiple sensors and effectors. Recent simulation methods enable the Digital Twin (DT) concept realisation. However, DT employment in robotic system development, e.g. in-development testing, is unclear. During the system development, its parts evolve from simulated mockups to physical parts which run software deployed on the actual hardware. Therefore, a design tool and a flexible development procedure ensuring the integrity of the simulated and physical parts are required. We aim to maximise the integration between a CPS’s simulated and physical parts in various setups. The better integration, the better simulation-based testing coverage of the physical part (hardware and software). We propose a Domain Specification Language (DSL) based on Systems Modeling Language (SysML) that we refer to as SPSysML (Simulation-Physical System Modeling Language). SPSysML defines the taxonomy of a Simulation-Physical System (SPSys), being a CPS consisting of at least a physical or simulated part. In particular, the simulated ones can be DTs. We propose a SPSys Development Procedure (SPSysDP) that enables the maximisation of the simulation-physical integrity of SPSys by evaluating the proposed factors. SPSysDP is used to develop a complex robotic system for the INCARE project. In subsequent iterations of SPSysDP, the simulation-physical integrity of the system is maximised. As a result, the system model consists of fewer components, and a greater fraction of the system components are shared between various system setups. We implement and test the system with popular frameworks, Robot Operating System (ROS) and Gazebo simulator. SPSysML with SPSysDP enables the design of SPSys (including DT and CPS), multi-setup system development featuring maximised integrity between simulation and physical parts in its setups.

2022

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}
}

W. Dudek

Model systemu sterowania robota rozważnie zarządzającego przerywalnymi zadaniami

in XVI Krajowa Konferencja Robotyki – Postępy robotyki, 2022, vol. 1

[ BIB | URL ]

@inproceedings{dudek:kkr16_phd-twiki,
  author = {Dudek, Wojciech},
  title = {{Model systemu sterowania robota rozważnie zarządzającego przerywalnymi zadaniami}},
  booktitle = {XVI Krajowa Konferencja Robotyki -- Postępy robotyki},
  year = {2022},
  volume = {1},
  conference = {kkr16},
  lang = {pl},
  twiki = {inbook},
  url = {https://robotyka.ia.pw.edu.pl/papers/phd-wd-kkr-2022.pdf}
}

2021

W. Dudek

Prudent management of interruptible tasks executed by a service robot

PhD thesis, Warsaw University of Technology, 2021

[ BIB | abstract | URL ]

@phdthesis{Dudek:2021_phd-twiki,
  author = {Dudek, Wojciech},
  school = {Warsaw University of Technology},
  title = {Prudent management of interruptible tasks executed by a service robot},
  year = {2021},
  lang = {en},
  owner = {wdudek},
  projects = {aal-incare},
  timestamp = {2021.05.18},
  twiki = {phd},
  url = {https://robotyka.ia.pw.edu.pl/papers/phd_thesis_wd.pdf}
}

J. Karwowski, W. Dudek, M. Węgierek, and T. Winiarski
HuBeRo-a Framework to Simulate Human Behaviour in Robot Research
Journal of Automation, Mobile Robotics and Intelligent Systems, vol. 15, no. 1, pp. 31–38, 2021
[ BIB | DOI | abstract ]
```
@article{karwowski2021hubero-twiki,
  title = {{HuBeRo-a Framework to Simulate Human Behaviour in Robot Research}},
  author = {Karwowski, Jarosław and Dudek, Wojciech and Węgierek, Maciej and Winiarski, Tomasz},
  journal = {Journal of Automation, Mobile Robotics and Intelligent Systems},
  volume = {15},
  number = {1},
  pages = {31--38},
  year = {2021},
  doi = {10.14313/JAMRIS/1-2021/4},
  projects = {aal-incare,EARL},
  twiki = {journal}
}
```
Social robots’ software is commonly tested in a simulation due to the safety and convenience reasons as well as an environment configuration repeatability assurance. An interaction between a robot and a human requires taking a person presence and his movement abilities into consideration. The purpose of the article is to present the HuBeRo framework, which can be used to simulate human motion behaviour. The framework allows independent control of each individual’s activity, which distinguishes the presented approach from state-of-the-art, opensource solutions from the robotics domain. The article presents the framework assumptions, architecture, and an exemplary application with respect to presented scenarios.
T. Winiarski, J. Sikora, D. Seredyński, and W. Dudek
DAIMM Simulation Platform for Dual-Arm Impedance Controlled Mobile Manipulation
in 7th International Conference on Automation, Robotics and Applications (ICARA), 2021, pp. 180–184
[ BIB | DOI | abstract | URL ]
```
@inproceedings{winiarski-icara-21-twiki,
  author = {Winiarski, Tomasz and Sikora, Jakub and Seredyński, Dawid and Dudek, Wojciech},
  booktitle = {7th International Conference on Automation, Robotics and Applications (ICARA)},
  title = {{DAIMM Simulation Platform for Dual-Arm Impedance Controlled Mobile Manipulation}},
  year = {2021},
  pages = {180--184},
  publisher = {IEEE},
  doi = {10.1109/ICARA51699.2021.9376462},
  projects = {Roko},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2021/integrated-velma-icara.pdf}
}
```
One of the most considerable research problems in robotics is manipulation investigated in robot systems operating in different environments and performing various tasks. There are many advanced robot tasks that require agile manipulation and dual-arm setup to make them feasible (e.g., opening a jar or a box, package wrapping). Moreover, robots can sense torques in joints to be compliant during cooperation with humans and to be mobile to enlarge their workspace. Therefore, the dual-arm, impedance controlled mobile manipulation (DAIMM) problem emerge. In this article we state requirements, which should be considered in the DAIMM problem simulators. Moreover, we propose a model for simulation platforms able to perform DAIMM tasks and verify it by the implementation of an exemplary platform. The robot simulated by the exemplary platform successfully realised two tasks involving agile manipulation and navigation.

2020

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, 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.
W. Dudek and T. Winiarski
Scheduling of a Robot’s Tasks With the TaskER Framework
IEEE Access, vol. 8, pp. 161449–161471, 2020
[ BIB | DOI | abstract | URL | VIDEO ]
```
@article{tasker2020-twiki,
  author = {Dudek, Wojciech and Winiarski, Tomasz},
  journal = {IEEE Access},
  title = {{Scheduling of a Robot's Tasks With the TaskER Framework}},
  year = {2020},
  volume = {8},
  number = {},
  doi = {10.1109/ACCESS.2020.3020265},
  pages = {161449-161471},
  projects = {aal-incare},
  twiki = {journal},
  url = {https://ieeexplore.ieee.org/document/9180351},
  video = {https://vimeo.com/403391725}
}
```
Robots, in contrast to typical computational systems, affect the physical environment directly. Therefore, other assumptions must be considered for task management procedures in these system types. Robots coexist with humans in the environment and act upon potentially dangerous objects (e.g., a cooker); hence, extra safety procedures in robot task harmonisation must be ensured. Additionally, an algorithm that schedules tasks for a robot and optimises the robot’s operation needs to consider the robot motion time, dynamics of the physical processes, changes in the robot user preferences and changes in the environment made by other habitants. In this article, we investigate the problem of switching between various independent tasks safely and state requirements for a control system resolving it. The tasks are uploaded to a store, launched on a robot at the user’s request (similar to smartphone applications) and scheduled following a configurable algorithm. Furthermore, we design a model of systems satisfying the requirements. The systems are structured with agents of different classes. We propose a task-switching procedure and dedicated states of the finite-state machines describing the operation of the agents. Finally, we present a TaskER framework implementing the model, and we verify the model through the execution of an exemplary system in scenarios showing the benefits of the model implementation. As a result of our approach application, the robot tasks can be safely interrupted, postponed, resumed, and potential danger (e.g., leaving a cooker on for a long time) can be minimised.
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).
T. Winiarski, P. Balsam, M. Węgierek, S. Borodzicz-Jażdżyk, W. Dudek, K. Banachowicz, J. Kochanowski, and M. Marchel
A concept of a measuring system for probe kinesthetic parameters identification during echocardiography examination
arXiv:2007.13387, 2020
[ BIB | abstract | URL ]
```
@article{winiarski-echo-20-twiki,
  title = {A concept of a measuring system for probe kinesthetic parameters identification during echocardiography examination},
  author = {Winiarski, Tomasz and Balsam, Paweł and Węgierek, Maciej and Borodzicz-Jażdżyk, Sonia and Dudek, Wojciech and Banachowicz, Konrad and Kochanowski, Janusz and Marchel, Michał},
  journal = {arXiv:2007.13387},
  year = {2020},
  twiki = {article},
  url = {http://arxiv.org/abs/2007.13387}
}
```
Echocardiography is the most commonly used imaging technique in clinical cardiology. Due to the high demand for this type of examination and the small number of specialists, there is a need to support the examination process through telemedicine. Moreover, specialist training can be supported by appropriate simulation systems. For (i) creating tailor-made tele-echo robots, (ii) creating echo system simulators, and (iii) conducting echo examination with local or remote expert assistance, knowledge about echo probe kinesthetic parameters during echocardiography examination is advisable. The article describes the concept of a measuring system for obtaining such data.

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}
}

W. Dudek, M. Węgierek, J. Karwowski, W. Szynkiewicz, and T. Winiarski
Task harmonisation for a single–task robot controller
in 12th International Workshop on Robot Motion and Control (RoMoCo), 2019, pp. 86–91
[ BIB | DOI | abstract | URL ]
```
@inproceedings{Dudek-multitasking-romoco-2019-twiki,
  author = {Dudek, Wojciech and Węgierek, Maciej and Karwowski, Jarosław and Szynkiewicz, Wojciech and Winiarski, Tomasz},
  title = {Task harmonisation for a single--task robot controller},
  booktitle = {12th International Workshop on Robot Motion and Control (RoMoCo)},
  year = {2019},
  editor = {K.~Kozłowski},
  pages = {86--91},
  organization = {IEEE},
  conference = {romoco12},
  doi = {10.1109/RoMoCo.2019.8787385},
  projects = {aal-incare},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2019/multitasking.pdf}
}
```
The technical capabilities of robots and their increased versatility require a single robot to be able to perform a wide array of complex tasks. What more, when performing a task, it may be asked to carry out another one. Switching between different tasks is a known problem in engineering, however, robots, compared to programs operating in a virtual space, are unique as they must follow laws of physics. In this work, we introduce a method for harmonising service robot tasks being managed by finite state machines. The method allows for the handling of safe suspend and resume procedures for a complex task. Additionally, we consider a case when the robot can not switch the current task to another at any time. The method was implemented and verified by conducting multiple interruptions of one task by another one. The tasks during the verification were being performed in simulation by a TIAGo robot.
W. Dudek and W. Szynkiewicz
Cyber-security for Mobile Service Robots–Challenges for Cyber-physical System Safety
Journal of Telecommunications and Information Technology, 2019
[ BIB | DOI | abstract | URL ]
```
@article{dudek2019cyber,
  title = {Cyber-security for Mobile Service Robots--Challenges for Cyber-physical System Safety},
  author = {Dudek, Wojciech and Szynkiewicz, Wojciech},
  journal = {Journal of Telecommunications and Information Technology},
  year = {2019},
  doi = {10.26636/jtit.2019.131019},
  projects = {npc},
  url = {https://www.itl.waw.pl/czasopisma/JTIT/2019/2/29.pdf}
}
```
A review of the known and an indication of the new threats for cyber-physical robotic systems, caused by cybernetic attacks, serves, in this paper, as a basis for the analysis of the known methods relied upon to detect and mitigate consequences of such attacks. A particular emphasis is placed on threats specific for cyber-physical systems, as they are a feature distinguishing these systems from their traditional Information and Communication Technologies (ICT) counterparts. Based on the review of literature and own analyses, unresolved issues regarding the cyber-security of robot systems are presented and discussed.

2018

W. Dudek and W. Szynkiewicz
Cyberbezpieczeństwo robotów – nowe wyzwania dla zabezpieczeń systemów cyber-fizycznych
in XV Krajowa Konferencja Robotyki – Postępy robotyki, 2018, vol. 1, pp. 107–118
[ BIB | abstract | URL ]
```
@inproceedings{kkr15_cyberbezpieczenstwo-twiki,
  author = {Dudek, Wojciech and Szynkiewicz, Wojciech},
  booktitle = {XV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Cyberbezpieczeństwo robotów – nowe wyzwania dla zabezpieczeń systemów cyber-fizycznych}},
  year = {2018},
  pages = {107--118},
  volume = {1},
  conference = {kkr15},
  lang = {pl},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2018/dudek_ceberbezp_kkr2018.pdf}
}
```
W pracy przedstawiono problematykę cyberbezpieczeństwa systemów robotycznych zaliczanych do szerszej klasy systemów cyber-fizycznych. Omówiono aktualne i potencjalne zagrożenia dla systemów cyber-fizycznych wynikające z cyberataków będących działaniami nieuprawiononymi, metody wykrywania tych ataków oraz ochrony lub redukcji skutków ich działania. Wyróżniono specyficzne dla systemów cyber-fizycznych rodzaje zagrożeń odróżniające je od systemów teleinformatycznych. Na podstawie analizy literatury dotyczącej cyberbezpieczeństwa systemów robotycznych wskazano otwarte problemy badawcze, które wymagają rozwiązania.

2017

W. Dudek

Młodzi Innowacyjni 2017. Innowacyjne rozwiązania w obszarze automatyki, robotyki i pomiarów

J. Kacprzyk, Ed. Przemysłowy Instytut Automatyki i Pomiarów PIAP, 2017, pp. 39–49 [ BIB | URL ]

@inbook{dudek:2017_mi,
  chapter = {Navigation and visualization system for Nao mobile robot},
  pages = {39--49},
  title = {Młodzi Innowacyjni 2017. Innowacyjne rozwiązania w obszarze automatyki, robotyki i pomiarów},
  publisher = {Przemysłowy Instytut Automatyki i Pomiarów PIAP},
  year = {2017},
  author = {Dudek, Wojciech},
  editor = {Kacprzyk, Janusz},
  note = {Budowa systemu nawigacji i wizualizacji środowiska robota mobilnego NAO},
  twiki = {inbook},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2017/monografia-mi-wojciech-dudek.pdf}
}

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.
W. Dudek, W. Szynkiewicz, and T. Winiarski
Cloud computing support for the multi-agent robot navigation system
Journal of Automation Mobile Robotics and Intelligent Systems, vol. 11, no. 2, pp. 67–74, 2017
[ BIB | DOI | abstract | URL ]
```
@article{dudek:2017-jamris-cloud-computing-twiki,
  author = {Dudek, Wojciech and Szynkiewicz, Wojciech and Winiarski, Tomasz},
  title = {Cloud computing support for the multi-agent robot navigation system},
  journal = {Journal of Automation Mobile Robotics and Intelligent Systems},
  year = {2017},
  volume = {11},
  number = {2},
  pages = {67--74},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2017/wd-jamris-cloud-computing-support-rapp.pdf},
  doi = {10.14313/JAMRIS_2-2017/18},
  projects = {RAPP},
  twiki = {journal}
}
```
This paper presents a naviga on system structure for mobile service robots in the agent-based distributed architecture. The proposed naviga on system is a part of the RAPP framework. The RAPP framework is an open-source software platform to support the crea on and delivery of robotic applications, which are expected to increase the versatility and utility of robots. All key navigation tasks are defined and divided into separate components. The proper allocation of navigation components, in the four agent structure of the RAPP infrastructure, enables high demanding computations offloading and was the main goal of this work. Navigation system components were implemented using ROS framework. Experimental results for the NAO robot executing risks detec on task proved the validity of the proposed approach.

2016

W. Dudek, K. Banachowicz, W. Szynkiewicz, and T. Winiarski
Distributed NAO robot navigation system in the hazard detection application
in 21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR’2016, 2016, pp. 942–947
[ BIB | DOI | abstract | URL ]
```
@inproceedings{mmar_dudek_distributed-2016-twiki,
  author = {Dudek, Wojciech and Banachowicz, Konrad and Szynkiewicz, Wojciech and Winiarski, Tomasz},
  booktitle = {21th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2016},
  title = {{Distributed NAO robot navigation system in the hazard detection application}},
  year = {2016},
  pages = {942--947},
  publisher = {IEEE},
  doi = {10.1109/MMAR.2016.7575264},
  projects = {fp7rapp},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/mmar_dudek_distributed.pdf}
}
```
Advanced robot control algorithms, that are based on sensor data fusion and a lot of processing, require high computational power. Hence, most of the modern robots have their own highly efficient computers. It makes the service and assistant robots costly and still unavailable for the most of the home users. In this paper the navigation system of the humanoid NAO robot is presented that is distributed through the robot and the cloud. It reduces the cost of the particular robot and makes it affordable for customers. Furthermore, the multi-agent task specification and implementation method is proposed and illustrated on an example of hazard detection task – the assistant robot application to help the elderly people to dwell at home.
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.
W. Dudek, W. Szynkiewicz, and T. Winiarski
Wieloagentowy system nawigacji robotów usługowych wspomagany chmurą obliczeniową
in XIV Krajowa Konferencja Robotyki – Postępy robotyki, 2016, vol. 1, pp. 245–254
[ BIB | abstract | URL ]
```
@inproceedings{kkr14_nao_nawigacja-twiki,
  author = {Dudek, Wojciech and Szynkiewicz, Wojciech and Winiarski, Tomasz},
  booktitle = {XIV Krajowa Konferencja Robotyki -- Postępy robotyki},
  title = {{Wieloagentowy system nawigacji robotów usługowych wspomagany chmurą obliczeniową}},
  year = {2016},
  pages = {245--254},
  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_nao_nawigacja.pdf}
}
```
W artykule przedstawiono strukturę rozproszonego systemu nawigacji mobilnych robotów usługowych. System nawigacji jest elementem układu sterowania zaprojektowanego zgodnie z teorią agenta upostaciowionego. Opisano komponenty realizujące usługi nawigacyjne oraz ich rozmieszczenie w wieloagentowej strukturze układu sterowania. Dzięki wykorzystaniu chmury obliczeniowej możliwa jest realizacja złożonych algorytmów lokalizacji robota oraz planowania ścieżki. Proponowany system umożliwia chmurze obliczeniowej jednoczesną obsługę wielu robotów. Złożone usługi mogą być realizowane przez kilka komponentów rozproszonych w różnych agentach systemu. Dzięki temu możliwy jest dobór algorytmów lub całych usług w zależności zarówno od typu robota, jak i od czujników w jakie jest on wyposażony. Działanie systemu zweryfikowano w zadaniu wykrywania zdarzeń w otoczeniu przy użyciu robota NAO.
W. Dudek, W. Szynkiewicz, and T. Winiarski
Nao Robot Navigation System Structure Development in an Agent-Based Architecture of the RAPP Platform
in Recent Advances in Automation, Robotics and Measuring Techniques, 2016, vol. 440, pp. 623–633
[ BIB | DOI | abstract | URL ]
```
@inproceedings{dudek:2016-automation-twiki,
  author = {Dudek, Wojciech and Szynkiewicz, Wojciech and Winiarski, Tomasz},
  booktitle = {Recent Advances in Automation, Robotics and Measuring Techniques},
  title = {{Nao Robot Navigation System Structure Development in an Agent-Based Architecture of the RAPP Platform}},
  year = {2016},
  editor = {Szewczyk, Roman and Zieliński, Cezary and Kaliczyńska, Małgorzata},
  note = {Zielinski},
  pages = {623-633},
  publisher = {Springer},
  series = {Advances in Intelligent Systems and Computing (AISC)},
  volume = {440},
  crossref = {a},
  doi = {10.1007/978-3-319-29357-8_54},
  projects = {fp7rapp},
  owner = {tkornut},
  timestamp = {2015.10.30},
  twiki = {article},
  url = {http://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/2016/nao_automation_struktura.pdf}
}
```
This paper focuses on development of a navigation system structure for the Nao humanoid robot in an agent-oriented distributed architecture. The proposed navigation system is a part of RAPP framework, a cloud robotics platform. The RAPP framework is an open-source software platform to support the creation and delivery of robotic applications, which are expected to increase the versatility and utility of robots. All navigation tasks are defined and divided into separate components. Our robot navigation system consists of a relative localisation based on Extended Kalman Filter (EKF) using both IMU and odometry measurements, visual QR-code based global localization, path planning, and motion control components. The proper allocation of navigation components, in the four-agent structure of the RAPP platform, is the main goal of this work. Navigation system components are implemented using Robot Operating System and Nao robot programming framework – NAOqi. Experimental results for the Nao robot are presented to show the validity of the proposed approach.

2015

W. Dudek

Budowa systemu nawigacji i wizualizacji środowiska robota mobilnego NAO

Master's thesis, IAiIS, 2015

Tutor: Tomasz Winiarski
[ BIB | URL ]

@mastersthesis{wdudek-msc-15-twiki,
  author = {Dudek, Wojciech},
  school = {WUT},
  title = {{Budowa systemu nawigacji i wizualizacji środowiska robota mobilnego NAO}},
  year = {2015},
  lang = {pl},
  organization = {IAiIS},
  owner = {yoyek},
  publisher = {IAiIS},
  tutor = {Tomasz Winiarski},
  twiki = {msc},
  url = {https://gitlab-stud.elka.pw.edu.pl/robotyka/rpmpg_pubs/-/raw/main/student-theses/wdudek-msc-15-twiki.pdf}
}