A systematic method of designing control systems for service and field robots

Zieliński, Cezary; Kornuta, Tomasz; Winiarski, Tomasz

doi:10.1109/mmar.2014.6957317

Cited by 33 publications

(30 citation statements)

References 56 publications

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“…1). A systematic method of naming buffers is used [9], [22]. The letter in the center indicates the type of the subsystem s, where s ∈ {c, e, r, E , R}.…”

Section: Embodied Agent Architecture a Structurementioning

confidence: 99%

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Methodology of Designing Multi-agent Robot Control Systems Utilising Hierarchical Petri Nets

Figat

Zieliński

2019

2019 International Conference on Robotics and Automation (ICRA)

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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.

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“…1). A systematic method of naming buffers is used [9], [22]. The letter in the center indicates the type of the subsystem s, where s ∈ {c, e, r, E , R}.…”

Section: Embodied Agent Architecture a Structurementioning

confidence: 99%

“…If the environment is physical in nature, then such an agent is called an embodied agent. An embodied agent affects the environment with its effectors and obtains data from it utilising its receptors [20], [3], [9], [22]. An embodied agent is decomposed into a set of communicating subsystems.…”

Section: Introductionmentioning

confidence: 99%

Methodology of Designing Multi-agent Robot Control Systems Utilising Hierarchical Petri Nets

Figat

Zieliński

2019

2019 International Conference on Robotics and Automation (ICRA)

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“…Należy jedynie adekwatnie zdefiniować receptory i efektory interfejsu. Dotychczas agenty upostaciowione były wykorzystywane do tworzenia systemów sterowania systemami robotycznymi [37][38][39][40]. Niniejszy artykuł pokazuje ich użyteczność w projektowaniu systemów, które nie są związane z robotyką.…”

Section: Wymagania I Ogólna Koncepcja Rozwiązaniaunclassified

“…Podobnie interfejs oddziałuje na operatora, z jednej strony przekazując mu niezbędne dane, a z drugiej pozyskuje od niego informacje, jak konkretnie ma platforma zaprezentować zebrane dane. Dlatego postanowiono skorzystać z bogatego doświadczenia w konstrukcji systemów sterowania robotami i zastosować podejście wykorzystujące agenty upostaciowione [37][38][39][40] zarówno do specyfikacji jak i implementacji interfejsu. Prezentacja tej metody zastosowanej do budowy interfejsu jest głównym celem tego artykułu.…”

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Agent Structure of Multimodal User Interface to the National Cybersecurity Platform – Part 1

Kasprzak¹,

Szynkiewicz²,

Stefańczyk³

et al. 2019

PAR

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Zezwala się na korzystanie z artykułu na warunkach licencji Creative Commons Uznanie autorstwa 3.0 1. Wprowadzenie Termin cyberbezpieczeństwo odnosi się do zbioru zagadnień związanych z zapewnieniem bezpieczeństwa użytkowania sieci komputerowych, a w szczególności Internetu. Dotyczy on zabezpieczenia infrastruktury sieciowej używanej przez agendy państwa, prywatne korporacje oraz indywidualnych użytkowników przed cyberatakami. Działania związane z cyberbezpieczeństwem przede wszystkim koncentrują się na zapobieganiu cyberatakom, ale jeżeli one już nastąpią, to na maksymalnym ograniczeniu ich skutków. Podstawowym celem jest zapobieganie wyciekom danych oraz udaremnianie ataków polegających na uniemożliwianiu realizacji usług dostarczanych przez sieć. Stopień zależności współczesnych państw od systemów teleinformatycznych osiągnął taki poziom, że przypadkowe lub zamierzone uszkodzenie tej infrastruktury może pociągnąć za sobą

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“…Here the domain is robotics. A design method fulfilling the above mentioned requirements has been presented in [4][5][6][7][8][9][10]. It is based on the assumption that the overall control system is composed of multiple embodied agents, where each of the agents, representing a specific system component, is decomposed into: a control subsystem, real effectors, virtual effectors, real receptors and virtual effectors.…”

Section: Introductionmentioning

confidence: 99%

Control system architecture for the investigation of motion control algorithms on an example of the mobile platform Rex

Janiak¹,

Zieliński²

2015

Bulletin of the Polish Academy of Sciences Technical Sciences

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Abstract. This paper presets the specification and implementation of the control system of the mobile platform Rex. The presented system structure and the description of its functioning result from the application of a formal method of designing such systems. This formalism is based on the concept of an embodied agent. The behaviours of its subsystems are specified in terms of transition functions that compute, out of the variables contained in the internal memory and the input buffers, the values that are inserted into the output buffers and the internal memory. The transition functions are the parameters of elementary actions, which in turn are used in behaviour patterns which are the building blocks of the subsystems of the designed control system. Rex is a skid steering platform, with four independently actuated wheels. It is represented by a single agent that implements the locomotion functionality. The agent consists of a control subsystem, a virtual effector and a virtual receptor. Each of those subsystems is discussed in details. Both the data structures and the transition functions defining their behaviours are described. The locomotion agent is a part of the control system of the autonomous exploration and rescue robot developed within the RobREx project.

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A systematic method of designing control systems for service and field robots

Cited by 33 publications

References 56 publications

Methodology of Designing Multi-agent Robot Control Systems Utilising Hierarchical Petri Nets

Methodology of Designing Multi-agent Robot Control Systems Utilising Hierarchical Petri Nets

Agent Structure of Multimodal User Interface to the National Cybersecurity Platform – Part 1

Control system architecture for the investigation of motion control algorithms on an example of the mobile platform Rex

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