Krzysztof Skrzypczyk - Academia.edu (original) (raw)

Papers by Krzysztof Skrzypczyk

Zenodo (CERN European Organization for Nuclear Research), Oct 20, 2010

In this paper an average number of re-handlings analysis is proposed to solve the problem of find... more In this paper an average number of re-handlings analysis is proposed to solve the problem of finding bays configuration in small container terminal in Gliwice, Poland. Rehandlings in this terminal can be performed only by reachstackers. The goal of the heuristic is to plan the reachstacter moves in the terminal, assuming that the target containers are reached and the number of re-handings is minimized. The real situation requires also to take into account the model of the problem environment uncertainty caused by the fact that many containers are not delivered to the terminal on time, or can not be sent on scheduled time. To enable this, the heuristic uses some assumptions to simplify problem analysis.

Studies in computational intelligence, 2013

Planning belongs to fundamental AI domains. Examples of planning applications are manufacturing, ... more Planning belongs to fundamental AI domains. Examples of planning applications are manufacturing, production planning, logistics and agentics. Over the decades planning techniques were improved and now they are able to capable real environment problems in the presence of uncertain and incomplete information. This article introduces the notion of so called classical planning, indicating connected with this computational complexity problems and possible ways of treating uncertainty.

Archives of Control Sciences, Jun 1, 2015

The paper addresses the problem of algorithm synthesis for controlling the motion of an electric ... more 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.

Springer eBooks, 2013

The paper addresses the problem of information fusion in Multi-Agent System. Since the knowledge ... more The paper addresses the problem of information fusion in Multi-Agent System. Since the knowledge of the process state is distributed between agents, the efficiency of the task performance depends on a proper information fusion technique applied to the agents. In this paper we study the case in which each agent has its own sensing device and is able to collect information with some certainty. Since the same information can be detected by multiple agents, the global certainty about the given fact derives from the fusion of information exchanged by interconnecting agents. The key issue in the method proposed, is an assumption that each agent is able to asses its own reliability during the task performance. The method is illustrated by the pick-up-and-collection task example. The effectiveness of the method proposed is evaluated using relevant simulation experiments.

Springer eBooks, 2013

An efficiency of an multi-robot systems depends on proper coordinating tasks of all robots. This ... more An efficiency of an multi-robot systems depends on proper coordinating tasks of all robots. This paper presents a game theoretic approach to modelling and solving the pick-up and collection problem. The classical form of this problem is modified in order to introduce the aspect of an uncertainty related to an information about the workspace inside of which robots are intended to perform the task. The process of modelling the problem in game theoretic framework, as well as cooperative solution to the problem is discussed in thise paper. Results of exemplary simulations are presented to prove the suitability of theapproach presented.

In this paper an average number of re-handlings analysis is proposed to solve the problem of find... more In this paper an average number of re-handlings analysis is proposed to solve the problem of finding bays configuration in small container terminal in Gliwice, Poland. Rehandlings in this terminal can be performed only by reachstackers. The goal of the heuristic is to plan the reachstacter moves in the terminal, assuming that the target containers are reached and the number of re-handings is minimized. The real situation requires also to take into account the model of the problem environment uncertainty caused by the fact that many containers are not delivered to the terminal on time, or can not be sent on scheduled time. To enable this, the heuristic uses some assumptions to simplify problem analysis.

2018 International Conference on Signals and Electronic Systems (ICSES), 2018

In the paper we present a method for estimating uncertainty of measurement that can be used for e... more In the paper we present a method for estimating uncertainty of measurement that can be used for expressing the measurement uncertainty of 3-axis acceleration, angular velocity and magnetic field sensors used in the IMU modules, that had been calibrated using the direct calibration method. Linear model of 3-axis sensors is assumed. The described method of uncertainty estimation was used to determine the uncertainty of measurement of 3-axis acceleration sensor in module IMU5, which uses LSM303DLM chip delivered by STMicroelectronics. As a reference MTi-G28 IMU module by Xsens company was used.

Archives of Control Sciences, 2017

This paper addresses the problem of navigating an autonomous vehicle using environmental dynamics... more This paper addresses the problem of navigating an autonomous vehicle using environmental dynamics prediction. The usefulness of the Game Against Nature formalism adapted to modelling environmental prediction uncertainty is discussed. The possibility of the control law synthesis on the basis of strategies against Nature is presented. The properties and effectiveness of the approach presented are verified by simulations carried out in MATLAB.

Przeglad Elektrotechniczny

Archives of Control Sciences, 2015

The paper addresses the problem of algorithm synthesis for controlling the motion of an electric ... more 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.

2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR), 2014

Planning in Artificial Intelligence is a problem of finding a sequence of actions that transform ... more Planning in Artificial Intelligence is a problem of finding a sequence of actions that transform given initial state of the problem to desired goal situation. In this work we consider computational difficulty of so called conditional planning. Conditional planning is a problem of searching for plans that depend on sensory information and succeed no matter which of the possible initial states the world was actually in. Finding a plan of such problems is computationally difficult. To avoid this difficulty a transformation to Linear Programming Problem, illustrated by an example, is proposed.

Studies in Computational Intelligence, 2013

Planning belongs to fundamental AI domains. Examples of planning applications are manufacturing, ... more Planning belongs to fundamental AI domains. Examples of planning applications are manufacturing, production planning, logistics and agentics. Over the decades planning techniques were improved and now they are able to capable real environment problems in the presence of uncertain and incomplete information. This article introduces the notion of so called classical planning, indicating connected with this computational complexity problems and possible ways of treating uncertainty.

Studies in Computational Intelligence, 2013

In this chapter we present simulation results of an algorithm designed to planning collision free... more In this chapter we present simulation results of an algorithm designed to planning collision free path based on probabilistic search. The aim of this study is to design an algorithm for off-line planning a set of way-points which make the collision free route of an Unmanned Aerial Vehicle (UAV). The planning process is based on the graph that represents the map containing information about altitude of the terrain over which the UAV is intended to perform its mission. The size of the graph increases polynomially with the resolution of the map and the number of way points of UAV. The probabilistic method of making the representative model of the terrain was applied in order to reduce a complexity of planning the collision free path. The functioning and efficiency of the approach proposed was introduced in our previous work, here we use real terrain map and introduce indicators to illustrate properties of the algorithm.

Studies in Computational Intelligence, 2013

An efficiency of an multi-robot systems depends on proper coordinating tasks of all robots. This ... more An efficiency of an multi-robot systems depends on proper coordinating tasks of all robots. This paper presents a game theoretic approach to modelling and solving the pick-up and collection problem. The classical form of this problem is modified in order to introduce the aspect of an uncertainty related to an information about the workspace inside of which robots are intended to perform the task. The process of modelling the problem in game theoretic framework, as well as cooperative solution to the problem is discussed in thise paper. Results of exemplary simulations are presented to prove the suitability of theapproach presented.

Studies in Computational Intelligence, 2013

The paper addresses the problem of information fusion in Multi-Agent System. Since the knowledge ... more The paper addresses the problem of information fusion in Multi-Agent System. Since the knowledge of the process state is distributed between agents, the efficiency of the task performance depends on a proper information fusion technique applied to the agents. In this paper we study the case in which each agent has its own sensing device and is able to collect information with some certainty. Since the same information can be detected by multiple agents, the global certainty about the given fact derives from the fusion of information exchanged by interconnecting agents. The key issue in the method proposed, is an assumption that each agent is able to asses its own reliability during the task performance. The method is illustrated by the pick-up-and-collection task example. The effectiveness of the method proposed is evaluated using relevant simulation experiments.

Archives of Control Sciences, 2014

This paper addresses the problem of resource division for robotic agents in the framework of Mult... more This paper addresses the problem of resource division for robotic agents in the framework of Multi-Agent System. Knowledge of the environment represented in the system is uncertain, incomplete and distributed among the individual agents that have both limited sensing and communication abilities. The pick-up-and-collection problem is considered in order to illustrate the idea presented. In this paper a framework for cooperative task assignment to individual agents is discussed. The process of negotiating access to common resources by intercommunicating agents is modeled and solved as a game against Nature. The working of the proposed system was verified by multiple simulations. Selected, exemplary simulations are presented in the paper to illustrate the approach discussed

Archives of Control Sciences, Jun 1, 2017

This paper addresses the problem of navigating an autonomous vehicle using environmental dynamics... more This paper addresses the problem of navigating an autonomous vehicle using environmental dynamics prediction. The usefulness of the Game Against Nature formalism adapted to modelling environmental prediction uncertainty is discussed. The possibility of the control law synthesis on the basis of strategies against Nature is presented. The properties and effectiveness of the approach presented are verified by simulations carried out in MATLAB.

Wseas Transactions on Systems and Control, 2010

Zenodo (CERN European Organization for Nuclear Research), Oct 20, 2010

In this paper an average number of re-handlings analysis is proposed to solve the problem of find... more In this paper an average number of re-handlings analysis is proposed to solve the problem of finding bays configuration in small container terminal in Gliwice, Poland. Rehandlings in this terminal can be performed only by reachstackers. The goal of the heuristic is to plan the reachstacter moves in the terminal, assuming that the target containers are reached and the number of re-handings is minimized. The real situation requires also to take into account the model of the problem environment uncertainty caused by the fact that many containers are not delivered to the terminal on time, or can not be sent on scheduled time. To enable this, the heuristic uses some assumptions to simplify problem analysis.

Studies in computational intelligence, 2013

Planning belongs to fundamental AI domains. Examples of planning applications are manufacturing, ... more Planning belongs to fundamental AI domains. Examples of planning applications are manufacturing, production planning, logistics and agentics. Over the decades planning techniques were improved and now they are able to capable real environment problems in the presence of uncertain and incomplete information. This article introduces the notion of so called classical planning, indicating connected with this computational complexity problems and possible ways of treating uncertainty.

Archives of Control Sciences, Jun 1, 2015

The paper addresses the problem of algorithm synthesis for controlling the motion of an electric ... more 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.

Springer eBooks, 2013

The paper addresses the problem of information fusion in Multi-Agent System. Since the knowledge ... more The paper addresses the problem of information fusion in Multi-Agent System. Since the knowledge of the process state is distributed between agents, the efficiency of the task performance depends on a proper information fusion technique applied to the agents. In this paper we study the case in which each agent has its own sensing device and is able to collect information with some certainty. Since the same information can be detected by multiple agents, the global certainty about the given fact derives from the fusion of information exchanged by interconnecting agents. The key issue in the method proposed, is an assumption that each agent is able to asses its own reliability during the task performance. The method is illustrated by the pick-up-and-collection task example. The effectiveness of the method proposed is evaluated using relevant simulation experiments.

Springer eBooks, 2013

An efficiency of an multi-robot systems depends on proper coordinating tasks of all robots. This ... more An efficiency of an multi-robot systems depends on proper coordinating tasks of all robots. This paper presents a game theoretic approach to modelling and solving the pick-up and collection problem. The classical form of this problem is modified in order to introduce the aspect of an uncertainty related to an information about the workspace inside of which robots are intended to perform the task. The process of modelling the problem in game theoretic framework, as well as cooperative solution to the problem is discussed in thise paper. Results of exemplary simulations are presented to prove the suitability of theapproach presented.

In this paper an average number of re-handlings analysis is proposed to solve the problem of find... more In this paper an average number of re-handlings analysis is proposed to solve the problem of finding bays configuration in small container terminal in Gliwice, Poland. Rehandlings in this terminal can be performed only by reachstackers. The goal of the heuristic is to plan the reachstacter moves in the terminal, assuming that the target containers are reached and the number of re-handings is minimized. The real situation requires also to take into account the model of the problem environment uncertainty caused by the fact that many containers are not delivered to the terminal on time, or can not be sent on scheduled time. To enable this, the heuristic uses some assumptions to simplify problem analysis.

2018 International Conference on Signals and Electronic Systems (ICSES), 2018

In the paper we present a method for estimating uncertainty of measurement that can be used for e... more In the paper we present a method for estimating uncertainty of measurement that can be used for expressing the measurement uncertainty of 3-axis acceleration, angular velocity and magnetic field sensors used in the IMU modules, that had been calibrated using the direct calibration method. Linear model of 3-axis sensors is assumed. The described method of uncertainty estimation was used to determine the uncertainty of measurement of 3-axis acceleration sensor in module IMU5, which uses LSM303DLM chip delivered by STMicroelectronics. As a reference MTi-G28 IMU module by Xsens company was used.

Archives of Control Sciences, 2017

This paper addresses the problem of navigating an autonomous vehicle using environmental dynamics... more This paper addresses the problem of navigating an autonomous vehicle using environmental dynamics prediction. The usefulness of the Game Against Nature formalism adapted to modelling environmental prediction uncertainty is discussed. The possibility of the control law synthesis on the basis of strategies against Nature is presented. The properties and effectiveness of the approach presented are verified by simulations carried out in MATLAB.

Przeglad Elektrotechniczny

Archives of Control Sciences, 2015

The paper addresses the problem of algorithm synthesis for controlling the motion of an electric ... more 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.

2014 19th International Conference on Methods and Models in Automation and Robotics (MMAR), 2014

Planning in Artificial Intelligence is a problem of finding a sequence of actions that transform ... more Planning in Artificial Intelligence is a problem of finding a sequence of actions that transform given initial state of the problem to desired goal situation. In this work we consider computational difficulty of so called conditional planning. Conditional planning is a problem of searching for plans that depend on sensory information and succeed no matter which of the possible initial states the world was actually in. Finding a plan of such problems is computationally difficult. To avoid this difficulty a transformation to Linear Programming Problem, illustrated by an example, is proposed.

Studies in Computational Intelligence, 2013

Planning belongs to fundamental AI domains. Examples of planning applications are manufacturing, ... more Planning belongs to fundamental AI domains. Examples of planning applications are manufacturing, production planning, logistics and agentics. Over the decades planning techniques were improved and now they are able to capable real environment problems in the presence of uncertain and incomplete information. This article introduces the notion of so called classical planning, indicating connected with this computational complexity problems and possible ways of treating uncertainty.

Studies in Computational Intelligence, 2013

In this chapter we present simulation results of an algorithm designed to planning collision free... more In this chapter we present simulation results of an algorithm designed to planning collision free path based on probabilistic search. The aim of this study is to design an algorithm for off-line planning a set of way-points which make the collision free route of an Unmanned Aerial Vehicle (UAV). The planning process is based on the graph that represents the map containing information about altitude of the terrain over which the UAV is intended to perform its mission. The size of the graph increases polynomially with the resolution of the map and the number of way points of UAV. The probabilistic method of making the representative model of the terrain was applied in order to reduce a complexity of planning the collision free path. The functioning and efficiency of the approach proposed was introduced in our previous work, here we use real terrain map and introduce indicators to illustrate properties of the algorithm.

Studies in Computational Intelligence, 2013

An efficiency of an multi-robot systems depends on proper coordinating tasks of all robots. This ... more An efficiency of an multi-robot systems depends on proper coordinating tasks of all robots. This paper presents a game theoretic approach to modelling and solving the pick-up and collection problem. The classical form of this problem is modified in order to introduce the aspect of an uncertainty related to an information about the workspace inside of which robots are intended to perform the task. The process of modelling the problem in game theoretic framework, as well as cooperative solution to the problem is discussed in thise paper. Results of exemplary simulations are presented to prove the suitability of theapproach presented.

Studies in Computational Intelligence, 2013

The paper addresses the problem of information fusion in Multi-Agent System. Since the knowledge ... more The paper addresses the problem of information fusion in Multi-Agent System. Since the knowledge of the process state is distributed between agents, the efficiency of the task performance depends on a proper information fusion technique applied to the agents. In this paper we study the case in which each agent has its own sensing device and is able to collect information with some certainty. Since the same information can be detected by multiple agents, the global certainty about the given fact derives from the fusion of information exchanged by interconnecting agents. The key issue in the method proposed, is an assumption that each agent is able to asses its own reliability during the task performance. The method is illustrated by the pick-up-and-collection task example. The effectiveness of the method proposed is evaluated using relevant simulation experiments.

Archives of Control Sciences, 2014

This paper addresses the problem of resource division for robotic agents in the framework of Mult... more This paper addresses the problem of resource division for robotic agents in the framework of Multi-Agent System. Knowledge of the environment represented in the system is uncertain, incomplete and distributed among the individual agents that have both limited sensing and communication abilities. The pick-up-and-collection problem is considered in order to illustrate the idea presented. In this paper a framework for cooperative task assignment to individual agents is discussed. The process of negotiating access to common resources by intercommunicating agents is modeled and solved as a game against Nature. The working of the proposed system was verified by multiple simulations. Selected, exemplary simulations are presented in the paper to illustrate the approach discussed

Archives of Control Sciences, Jun 1, 2017

This paper addresses the problem of navigating an autonomous vehicle using environmental dynamics... more This paper addresses the problem of navigating an autonomous vehicle using environmental dynamics prediction. The usefulness of the Game Against Nature formalism adapted to modelling environmental prediction uncertainty is discussed. The possibility of the control law synthesis on the basis of strategies against Nature is presented. The properties and effectiveness of the approach presented are verified by simulations carried out in MATLAB.

Wseas Transactions on Systems and Control, 2010