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1
Content available Convolutional neural networks training for autonomous robotics
Lozhkin Alexander, Maiorov Konstantin, Bozek Pavol
Management Systems in Production Engineering
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2021
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nr 1 (29)
75--79
EN
The article discusses methods for accelerating the operation of convolutional neural networks for autonomous robotics learning. The analysis of the theoretical possibility of modifying the neural network learning mechanism is carried out. Classic semiotic analysis and the theory of neural networks is proposed to union. An assumption is made about the possibility of using the symmetry mechanism to accelerate the training of convolutional neural networks. A multilayer neural network to represent how space is an attempt has been made. The conclusion was based on the laws on the plane obtained earlier. The derivation of formulas turned out to be impossible due to the problems of modern mathematics. A new approach is proposed, which involves combining the gradient descent algorithm and the stochastic completion of convolutional filters by the principles of symmetries. The identified algorithms allow increasing the learning rate from 5% to 15%, depending on the problem that the neural network solves.
2
Content available Circle formation by asynchronous opaque robots on infinite grid
Adhikary Ranendu, Kundu Manash Kumar, Sau Buddhadeb
Computer Science
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2021
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T. 22 (1)
81-100
EN
This paper presents a distributed algorithm for the Circle Formation problem under the infinite grid environment by asynchronous mobile opaque robots. Initially, all of the robots acquire distinct positions, and they must form a circle over the grid. The movements of the robots are only restricted along the grid lines; they do not share any global coordinate system. The robots are controlled by an asynchronous adversarial scheduler that operates in Look-Compute-Move cycles. The robots are indistinguishable by their nature, and they do not have any memory of their past configurations nor previous actions. We consider the problem under a luminous model, where robots communicate via lights; other than that, they do not have any external communication systems. Our protocol solves the Circle Formation problem using seven colors. A subroutine of our algorithm also solves the Line Formation problem using three colors.
3
Content available remote Human-aware Contingent Planning
Andrés Ignasi, Barros Leliane Nunes de, Delgado Karina Valdivia
Fundamenta Informaticae
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2020
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Vol. 174, nr 1
63--81
EN
Contingent planning models a robot that must achieve a goal in a partially observable environment with non-deterministic actions. A solution for this problem is generated by searching in the space of belief states, where a belief state is a set of possible world states. However, if there is an unavoidable dead-end state, the robot will fail to accomplish his task. In this work, rather than limiting a contingent planning task to the agent's actions and observations, we model a planning agent that is able to proactively resort to humans for help in order to complete tasks that would be unsolvable otherwise. Our aim is to develop a symbiotic autonomous agent, that is, an agent that, proactively and autonomously, asks for human help when needed. We formalize this problem and propose an extension of a translation technique to convert the contingent planning problem with human help into a non-deterministic fully observable planning problem that can be solved by an off-the-shelf efficient FOND planner.
4
Content available Cooperation of multiple autonomous robots and analysis of their swarm behawior
Czejdo B., Daszczuk W. B., Grabski W., Bhattacharya S.
Autobusy : technika, eksploatacja, systemy transportowe
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2018
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R. 19, nr 12
872--879
EN
In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm of robots. We have presented a novel approach based on partition of the robot behavior. The sub-diagrams describing sub-routs allowed us to model advanced interactions between autonomous robots using limited number of state combinations avoiding combinatorial explosion of reachability. We identified the systems for which we can ensure the correctness of robots interactions. New techniques were presented to verify and analyze combined robots’ behavior. The partitioned diagrams allowed us to model advanced interactions between autonomous robots and detect irregularities such as deadlocks, lack of termination etc. The techniques were presented to verify and analyze combined robots’ behavior using model checking approach. The described system, Dedan verifier, is still under development. In the near future, timed and probabilistic verification are planned.
PL
W artykule opisano kontynuację wcześniejszych badań dotyczących współpracy autonomicznych robotów wewnątrz budynku. Obejmują one obejmują sytuacje, w których zmiany środowiska i zmiana liczby robotów w roju mogą poprawić lub pogorszyć efektywność wykonywania zadań przypisanych do roju robotów. Zaprezentowaliśmy nowatorskie podejście z wykorzystaniem dzielenia zachowań robota na zachowania składowe. Poddiagramy opisujące kładowe podmarszruty pozwoliły nam modelować zaawansowane interakcje między autonomicznymi robotami w oparciu o ograniczoną liczbę kombinacji zachowań, unikając eksplozji kombinatorycznej przestrzeni osiągalności. Opisano systemy, dla których możemy zapewnić poprawność interakcji robotów i zaprezentowano techniki weryfikacji i analizy zachowań połączonych robotów. Diagramy podzielone na partycje pozwoliły nam modelować zaawansowane interakcje pomiędzy autonomicznymi robotami i wykrywać nieprawidłowości, takie jak zakleszczenia, brak terminacji itp. Przedstawiono techniki weryfikacji i analizy złożonych zachowań robotów za pomocą techniki weryfikacji modelowej. Opisany system weryfikacji, Dedan, jest wciąż rozwijany. W niedalekiej przyszłości planowana jest weryfikacja z czasem rzeczywistym i probabilistyczna.
5
Content available Synthesis and evaluation of the smart electric powered wheelchair route stabilization concept – a simulation study
Skrzypczyk K., Gałuszka A., Antas T.
Archives of Control Sciences
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2015
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Vol. 25, no. 2
263--273
EN
The paper addresses the problem of algorithm synthesis for controlling the motion of an electric powered wheelchair. The aim of the algorithm is to stabilize the wheelchair following a linear path and avoiding obstacles if occurred on its way. The main restriction imposed on the project is the application of simple low-cost sensors. That implies the system to cope with a number of inaccuracies and uncertainties related to the measurements. The goal of this work is to evaluate the possibility of the wheelchair project with a navigation system which aids a disable person to move in a complex and dynamic areas. Exemplary simulations are presented in order to discuss the results obtained.
6
Content available Robotyka podwodna
Giełdziński K.
Pomiary Automatyka Robotyka
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2013
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R. 17, nr 2
90-94
PL
Artykuł poświęcony jest wybranym zagadnieniom związanym z wykorzystaniem robotów w pracach pod powierzchnią wody. Obejmuje krótki rys historyczny dotyczący eksploracji środowiska wodnego, podział robotów podwodnych oraz opis wad i zalet poszczególnych rodzajów urządzeń. Ponadto opisano przykładowe konstrukcje oraz dziedziny, w których roboty znalazły zastosowanie.
EN
Article is devoted to selected problems that are associated with the use of robots in action below the surface. This work includes a brief history on the exploration of the aquatic environment, the distribution of underwater robots and a description of the advantages and disadvantages of different types of robots. In addition, this article describes examples of structures and areas in which have been used.
7
Content available Metoda projektowania układów sterowania autonomicznych robotów mobilnych. Część 2. Przykład zastosowania
Trojanek P., Zieliński C., Kornuta T., Winiarski T.
Pomiary Automatyka Robotyka
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2011
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R. 15, nr 10
84-90
PL
Ten dwuczęściowy artykuł przedstawia metodę projektową umożliwiającą określenie zarówno struktury, jak i sposobu działania układów sterowania autonomicznych robotów. Część pierwsza koncentruje się na aparacie formalnym i ogólnych przesłankach metody projektowej, natomiast część druga przedstawia przykład obrazujący sposób stosowania metody opisanej w części pierwszej artykułu.
EN
This two-part paper presents a general method of designing both the structure as well as the method of operation of autonomous robot control systems. The first part of the paper describes the notation and the general aspects of the design method. The second part presents an example of the utilization of the proposed method of designing robot controllers.
8
Content available Metoda projektowania układów sterowania autonomicznych robotów mobilnych. Część 1. Wprowadzenie teoretyczne
Zieliński C., Kornuta T., Trojanek P., Winiarski T.
Pomiary Automatyka Robotyka
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2011
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R. 15, nr 9
84-87
PL
Ten dwuczęściowy artykuł przedstawia metodę projektową umożliwiającą określenie zarówno struktury, jak i sposobu działania układów sterowania autonomicznych robotów. Część pierwsza koncentruje się na aparacie formalnym i ogólnych przesłankach metody projektowej, natomiast część druga przedstawia przykład obrazujący sposób stosowania metody opisanej w części pierwszej artykułu.
EN
This two-part paper presents a general method of designing both the structure as well as the method of operation of autonomous robot control systems. The first part of the paper describes the notation and the general aspects of the design method. The second part presents an example of the utilization of the proposed method of designing robot controllers.
9
Content available Diagnostyka antropoidalnego systemu decyzyjnego
Kowalczuk Z., Czubenko M.
Pomiary Automatyka Kontrola
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2011
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R. 57, nr 9
1011-1015
PL
W niniejszej pracy rozważa się zagadnienie błędów możliwych do wystąpienia podczas przetwarzania informacji w systemie podejmowania decyzji opartym na antropogenicznym modelu psychologii. Wyszczególnione zostały miejsca występowania błędów i ich typy, a następnie przeanalizowano możliwości zapobiegania błędom poprzez wprowadzenie sprzężenia zwrotnego do podległych modułów. Wykazano także, że dzięki możliwości auto-nauki system dąży do eliminacji wszelkich pomyłek.
EN
The paper gives an account of research results concerning a project of creating a fully-autonomous robotic decision-making system able to interact with its environment, and based on a mathematical model of human cognitive-behavioural psychology with some elements of personality psychology included. The basic idea of this paper is focused on the concept of possible errors in an intelligent robot control system. The system is a composed result of constructing an Intelligent Decision-making System (IDS) based on several recently developed ideas concerning an interactive cognitive-behavioural organism (Artificial Intelligence and Soft Computing, 2010), a fundamental model of human psychology and an IDS system (MMAR, 2010; Applied Mathematics and Computer Science, 2011) for controlling autonomous robots. Principal notions of IDS (Data-processing system based on cognitive psychology, along with the locations of possible errors), conceptions of discovery (object) and (long-time) memory are introduced. Then the heart of IDS, a personality (emotional) system which consists of systems of emotions and needs (based on the Maslow's theory/pyramid and a fuzzy model of needs), is presented. Furthermore, the paper shows what kind of errors can appear and what are their locations in IDS. Methods of avoiding these errors are also indicated.
10
Content available remote Intelligent decision-making system for autonomous robots
Kowalczuk Z., Czubenko M.
International Journal of Applied Mathematics and Computer Science
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2011
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Vol. 21, no 4
671-684
EN
The paper gives an account of research results concerning a project on creating a fully autonomous robotic decision making system, able to interact with its environment and based on a mathematical model of human cognitive-behavioural psychology, with some key elements of personality psychology included. The principal idea of the paper is focused on the concept of needs, with a certain instrumental role of emotions.
11
Content available remote Multi-agent software architecture for autonomous robots: a practical approach
Skrzypczyński P.
Management and Production Engineering Review
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2010
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Vol. 1, No. 4
55-66
EN
This paper analyses the issues of designing software for an autonomous robot, which is perceived as a real-time, multi-stage data processing system. We focus on a functional analysis of the data-driven world-modelling and motion planning tasks performed by the robot, and then we develop a multi-agent software architecture, which guarantees flexible use of sensors and world representations. We demonstrate use of this architecture on two practical examples: an autonomous indoor mobile robot, which can be applied for janitorial services or as an AGV in flexible manufacturing, and on a walking robot, which is intended for reconnaissance and search missions, e.g. in hostile or polluted industrial environments.
12
Content available remote Real Time Control for Autonomous Mobile Robots
Burkhard H-D.
Fundamenta Informaticae
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2002
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Vol. 51, nr 3
251-270
EN
Control of autonomous mobile robots in dynamical environments is interesting from a cognitive point of view as well as under application view points. Stimulus response controls are often favored for fast reactions to the environment. On the other hand, goals and plans are needed to guide long term behavior by deliberative control. Layered architectures are used for combination, but they inherit advantages as well as problems from both approaches. The paper proposes the Double Pass Architecture with hierarchically structured options/behaviors providing fast reactions on all levels.
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