Maksym Figat - Academia.edu (original) (raw)

Papers by Maksym Figat

Nonlinear Dynamics

Moving-object tracking using a pan–tilt camera setup is quite a well-known task in robotics. Howe... more Moving-object tracking using a pan–tilt camera setup is quite a well-known task in robotics. However, the presented research addresses specific properties of the tracked object and introduces novel features to the pan–tilt camera control strategy. Pan–tilt camera control does not operate in an isolated environment. It is a part of the visual servoing system with specific goals. The system has to fulfill certain purposes, which affect its configuration and functionality. The pan–tilt system aims at keeping the visually tracked object within the middle of the image. At the same time, the overall visual servoing efficiently recognizes and tracks the object enabling its grasping by the robot arm. It uses a predictive strategy utilizing specific second-order linear models for pan and tilt joints. Model predictive control (MPC) introduces into the system the ability to predict camera operation over the specific horizon according to the predefined tracking goals. As the system anticipates ...

IEEE Robotics and Automation Letters

Robotic System Specification Language (RSSL) stems from the embodied agent approach to robotic sy... more Robotic System Specification Language (RSSL) stems from the embodied agent approach to robotic system design. It enables the specification of both the structure and activities of a multi-robot multi-agent robotic system. RSSL specification can be verified and automatically transformed by its compiler into a sixlayered Robotic System Hierarchical Petri Net (RSHPN). RSHPN models the activities and structure of the designed robotic system. The automatically generated RSHPN is loaded into RSHPN Tool modeling RSHPNs and automatically generating the controller code. This approach was validated on several robotic systems. The use of RSSL and RSHPN facilitates the synthesis of robotic system controllers.

Robotics Auton. Syst., 2022

Pomiary Automatyka Robotyka, 2019

Zezwala się na korzystanie z artykułu na warunkach licencji Creative Commons Uznanie autorstwa 3.... more 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

Journal of Intelligent & Robotic Systems, 2018

The paper presents a robotic system design methodology based on the concept of an embodied agent ... more The paper presents a robotic system design methodology based on the concept of an embodied agent decomposed into communicating subsystems, whose activities are specified in terms of FSMs invoking behaviours parameterised by transition functions and terminal conditions. In the implementation phase, this specification is transformed into a system composed of a whiteboard providing communication means and logically labelled FSMs (LLFSMs) defining the system behaviour. These concepts are used to generate the code of the robot controller. The inclusion of inter-subsystem communication model completes the resulting system design with respect to our previous work that did not account for this model. Thus communication plays a central role in this presentation. The design methodology is exemplified with a rudimentary table tennis ball-collecting robot. The presented methodology and the implementation tools are suitable and beneficial for application to the design of other robotic systems.

Robotics and Autonomous Systems, 2017

HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific re... more HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L'archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d'enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.

Advances in Intelligent Systems and Computing, 2016

This paper presents a robot control system design procedure based on a formal specification. The ... more This paper presents a robot control system design procedure based on a formal specification. The specification describes both the structure and the activities of a robot system in a formal manner. Using this specification the code of the robot system controller can be produced. The paper shows how. Moreover it has been shown that the complexity of the robot control system is concentrated in two of its elements: transition functions and the structure of the FSM. The reduction of the complexity of transition functions simultaneously increases the number of states of the FSM and vice versa, so it is up to the designer of the system to choose the adequate complexity level of this pair.

2015 20th International Conference on Methods and Models in Automation and Robotics (MMAR), 2015

The limitations of the computational capabilities of robots' on-board computers necessitate t... more The limitations of the computational capabilities of robots' on-board computers necessitate the distribution of their control software in a cloud. This paper presents a distributed, reconfigurable control architecture based on the decomposition into agents, two of which are executed on the robot: the core agent is a fixed part of the controller, providing the task-independent robot capabilities, whereas the dynamic agent, loaded from the cloud when required, executes the task dependent program. The two mentioned agents execute the task, additionally utilising the capabilities of the cloud. The system is presented on an exemplary application of a NAO robot sending voice-mails.

2015 10th International Workshop on Robot Motion and Control (RoMoCo), 2015

Robots have to perform diverse and complex tasks. To face the limitations of the computational ca... more Robots have to perform diverse and complex tasks. To face the limitations of the computational capabilities of robot on-board control computer, it is required to split the control systems between the robot embedded and the cloud computational resources. This paper presents a reconfigurable control architecture for a robot designed to meet this requirement. The embedded computer hosts a core agent, which provides the task-independent robot capabilities. The task dependent part called the dynamic agent is loaded from the cloud when required. The two mentioned agents execute the task, additionally utilising the capabilities of the cloud. Once the task is finished the dynamic agent is destroyed and the core agent awaits new user demands, upon which it reacts by downloading a new dynamic agent. Thus a reconfigurable system results, limited only by the resources provided by the cloud. The system is presented on an example of a humanoid robot exploring a home environment in search for hazards resulting from negligence of people suffering from mild dementia.

Advances in Intelligent Systems and Computing, 2015

ABSTRACT

Pomiary Automatyka Robotyka, 2014

This paper presents a robotic system development methodology, starting with the creation of a sys... more This paper presents a robotic system development methodology, starting with the creation of a system model and ending with its implementation. Our methodology is based on the concept of an embodied agent, which is decomposed into subsystems. The activities of those subsystems are described in terms of FSMs which invoke behaviours parameterised by transition functions, taking as arguments the contents of subsystem input buffers and their internal memory. Those theoretical concepts are transformed into implementation concepts such as: hierarchical LLFSMs, scheduler, and whiteboard. The proposed design methodology is illustrated on a table-tennis ball collecting robot. Moreover, the evaluation of the performance of the resulting system is presented.

2017 11th International Workshop on Robot Motion and Control (RoMoCo), 2017

The paper presents a robot control system design method based on hierarchical Finite State Machin... more The paper presents a robot control system design method based on hierarchical Finite State Machines (FSMs). The system is decomposed into subsystems. Each one of them is specified in terms of a hierarchical FSM. Previously the description of subsystem activities had been presented as a single, complex FSM, where with each of its states a behaviour was associated. Each behaviour was described by a flowchart. In this proposal behaviours are defined in terms of individual FSMs, resulting in a unified description using only the concept of an FSM. By using FSM specification tools that provide automatic code generation, the robot control system implementation is significantly accelerated. This approach has been verified through the design of a table-tennis ball collecting robot.

The paper presents a holistic robot system specification methodology taking into account both the... more The paper presents a holistic robot system specification methodology taking into account both the system structure and its activities. It is based on the concept of an embodied agent. Each agent is decomposed into cooperating subsystems. Previously subsystem activities were defined by a hierarchical finite state machine (HFSM). In that approach communication between subsystems was not specified explicitly. This paper utilises a Hierarchical Petri Net (HPN) with conditions as an alternative modelling tool. HPN can be obtained by transformation of the HFSM into HPN. The resulting HPN consists of consecutive layers: subsystem layer, behaviour layer and communication layer. The proposed methodology not only organizes in a systematic and holistic manner the development of the robot system, but also introduces a comprehensive description of concurrently acting subsystems. The HPN description can be utilised to automatically generate the robot controller code.

2019 International Conference on Robotics and Automation (ICRA), May 1, 2019

A robot system is designed as a set of embodied agents. An embodied agent is decomposed into coop... more 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.

Electronics

The goal of the research reported here was to investigate whether the design methodology utilisin... more 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 th...

IEEE Access

The paper presents a methodology of creating a Hierarchical Petri Net modelling the activities of... more The paper presents a methodology of creating a Hierarchical Petri Net modelling the activities of a multi-agent robotic system. The methodology follows the separation of concerns approach to the design of robot control software, thus five layers resulted, representing: the system composed of agents, agents' subsystems, behaviours of subsystems, behaviour pattern, and finally inter-subsystem communication and transition function calculation. Blocking and non-blocking communication modes are taken into account. The robotic system structure and its activities are specified using the developed Robotic System HPN Tool. It facilitates modeling HPNs, verification of the activities of a robotic system through the HPN simulation and automatic code generation of an equivalent ROS based system. The specification methodology is presented on a simple example of designing a controller for the LWR4+ robot. INDEX TERMS Robotic system specification methodology, robotic system design methodology, communication model, hierarchical petri net.