Wyniki wyszukiwania - BazTech

1

Hybrid motion control for multiple mobile robot systems

Roszkowska E.

Archives of Control Sciences

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2018

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Vol. 28, No. 2

189--200

EN

This article presents a hybrid control system for a group of mobile robots. The components of this system are the supervisory controller(s), employing a discrete, event-driven model of concurrent robot processes, and robot motion controllers, employing a continuous time model with event-switched modes. The missions of the robots are specified by a sequence of to-be visited points, and the developed methodology ensures in a formal way their correct accomplishment.

2

Architecture of an Autonomous Robot at the IT Level

Ambroszkiewicz S., Bartyna W., Skarżyński K., Stępniak M., Szymczakowski M.

Journal of Automation Mobile Robotics and Intelligent Systems

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2015

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Vol. 9, No. 1

34--40

EN

The paper proposes an architecture for a control system of an autonomous robot as well as an architecture for a multi-robot system in which the robots cooperate in order to accomplish client’s tasks. The solution is based on the SOA paradigm and an ontology as a way of represen ting an environment, and is specified at the Informa- tion Technology level. This approach is focused on intui tive cooperation with a human and automation of a task execution, as well as automation of handling exceptions and changes in the environment. For the purpose of the test scenarios, a sample ontology was created, which allows the human user to define tasks to be performed by a robot. Additionally, a simulation environment was designed and implemented in Unity. It allows for automatic generation of the visual representation of information defined in the ontology, and for testing the effectiveness of the proposed architecture in different types of scenarios with variable sets of services (devices).

3

System sterowania grupy wielozadaniowych robotów mobilnych (1) - projekt systemu

Moczulski W., Panfil W., Przystałka P.

Zeszyty Naukowe Instytutu Pojazdów / Politechnika Warszawska

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2014

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z. 2/98

187--196

PL

W artykule zaprezentowano projekt systemu sterowania grupy wielozadaniowych robotów mobilnych do zastosowań inspekcyjno-rozpoznawczych. W pracy przedstawiono funkcjonalność grupy robotów, a także funkcjonalność i architekturę systemu sterowania tej grupy. Do implementacji systemu sterowania zastosowano platformę Microsoft® Robotics Developer Studio. Zaprezentowane wyniki badań stosowanych są efektem projektu "Wielozadaniowe mobilne roboty wykorzystujące zaawansowane technologie", który został zrealizowany przy współpracy Instytutu Podstaw Konstrukcji Maszyn Politechniki Śląskiej oraz Instytutu Technologii Eksploatacji – Państwowego Instytutu Badawczego w Radomiu w ramach Programu Strategicznego "Innowacyjne Systemy Wspomagania Technologicznego Zrównoważonego Rozwoju Gospodarczego".

EN

The article presents a control system project of a multi-task mobile robots group applicable for inspection and supervision tasks. In this paper both the multi-robot group functionality and control system functionality as well architecture are discussed. The control system implementation has been carried-out with the help of the Microsoft® Robotics Developer Studio software platform. The presented results of the applied research were achieved as an outcome of the project "High-tech multipurpose mobile robots" that has been carried out in the framework of Strategic Programme "Innovative Systems of Technical Support for Sustainable Development of Economy" (Innovative Economy Operational Programme) with the collaboration between Institute of Fundamentals of Machinery Design – Silesian University of Technology and Institute for Sustainable Technologies - National Research Institute.

4

Ontologia w systemie wielorobotowym

Ambroszkiewicz S., Bartyna W., Ryżko A., Skarżyński K., Szymczakowski M., Stępniak M.

Prace Naukowe Politechniki Warszawskiej. Elektronika

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2014

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z. 194, t. 1

175--184

PL

W pracy zaproponowana została ontologia, jako reprezentacja środowiska działania robotów oraz architektura systemu wielorobotowego oparta na paradygmacie SOA, która umożliwia człowiekowi/użytkownikowi zlecanie robotom zadań do realizacji.

EN

Architecture of autonomus robot control system (on the level of information technology) was proposed. It is based on the SOA paradigm, and the concept of ontology for modeling robot environment. An example of the ontology was constructed and used in the experimental scenario. A human user can formulate tasks to be accomplished by the robot.

5

Interaction management between social agents and human

Moussaoui A., Pruski A., Cherki B.

Journal of Automation Mobile Robotics and Intelligent Systems

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2011

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Vol. 5, No. 1

8-15

EN

In this paper we address the problem of managing social interactions between a human user and a set of social agents in structured environments. These agents have to regulate a measurable characteristic of the user. Our study focuses mainly therapeutic, caring for elderly people and assessment applications. The agent concept considered in this study is suitable for multi-robot systems (physical, service, mobile or not), but also to virtual agents (avatars) in a virtual reality (VR) application. The proposed approach has been adapted for an application of social phobia treatment using virtual reality. Thus, we conducted a case study to show the effectiveness of our contribution.