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@article{dal2022formal,
title={A formal toolchain for offline and run-time verification of robotic systems},
author={Dal Zilio, Silvano and Hladik, Pierre-Emmanuel and Ingrand, F{\'e}lix and Mallet, Anthony},
journal={Robotics and Autonomous Systems},
pages={104301},
year={2022},
publisher={Elsevier}
}
@Article{ladeira2021robmex,
author = {Ladeira, Matheus and Ouhammou, Yassine and Grolleau, Emmanuel},
journal = {Journal of Systems Architecture},
title = {{RoBMEX: ROS}-based modelling framework for end-users and experts},
year = {2021},
pages = {102089},
volume = {117},
publisher = {Elsevier},
}
@article{karwowski2021hubero,
title={{HuBeRo-a Framework to Simulate Human Behaviour in Robot Research}},
author={Jarosław Karwowski and Wojciech Dudek and Maciej Węgierek and Tomasz Winiarski},
journal={Journal of Automation, Mobile Robotics and Intelligent Systems},
abstract = {Social robots’ software is commonly tested in a simulation due to the safety and convenience reasons as well as an environment configuration repeatability assurance. An interaction between a robot and a human requires taking a person presence and his movement abilities into consideration. The purpose of the article is to present the HuBeRo framework, which can be used to simulate human motion behaviour. The framework allows independent control of each individual’s activity, which distinguishes the presented approach from state-of-the-art, opensource solutions from the robotics domain. The article presents the framework assumptions, architecture, and an exemplary application with respect to presented scenarios.},
volume = {15},
number = {1},
pages = {31--38},
year = {2021},
doi = {10.14313/JAMRIS/1-2021/4}
}
@article{kasprzak2020agent,
author = {Kasprzak, Włodzimierz and Szynkiewicz, Wojciech and Stefańczyk, Maciej and Dudek, Wojciech and Węgierek, Maciej and Seredyński, Dawid and Figat, Maksym and Zieliński, Cezary},
journal = {Bulletin of the Polish Academy of Sciences: Technical Sciences},
title = {Agent-based approach to the design of a multimodal interface for cyber-security event visualisation control},
year = {2020},
number = {No. 5 (October)},
pages = {1187-1205},
volume = {68},
doi = {10.24425/bpasts.2020.134662},
grant = {NPC},
howpublished = {online},
keywords = {multimodal interface, cyber security visualisation, embodied agent},
twiki = {journal}
}
@InProceedings{wenger2016model,
author = {Wenger, Monika and Eisenmenger, Waldemar and Neugschwandtner, Georg and Schneider, Ben and Zoitl, Alois},
booktitle = {2016 IEEE 21st international conference on emerging technologies and factory automation (ETFA)},
title = {A model based engineering tool for {ROS} component compositioning, configuration and generation of deployment information},
year = {2016},
organization = {IEEE},
pages = {1--8},
}
@InProceedings{wehrmeister2020generating,
author = {Wehrmeister, Marco Aurelio},
booktitle = {2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)},
title = {{Generating ROS-based Software for Industrial Cyber-Physical Systems from UML/MARTE}},
year = {2020},
organization = {IEEE},
pages = {313--320},
volume = {1},
}
@inproceedings{koubaa2016turtlebot,
title={Turtlebot at office: A service-oriented software architecture for personal assistant robots using ros},
author={Koub{\^a}a, Anis and Sriti, Mohamed-Foued and Javed, Yasir and Alajlan, Maram and Qureshi, Basit and Ellouze, Fatma and Mahmoud, Abdelrahman},
booktitle={2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)},
pages={270--276},
year={2016},
organization={IEEE}
}
@Article{anis2015ros,
author = {Anis, Koubaa},
journal = {Journal of Software Engineering for Robotic},
title = {{ROS} as a service: web services for robot operating system},
year = {2015},
issn = {2035-3928},
month = dec,
number = {1},
pages = {1--14},
volume = {6},
publisher = {Universit{\`a} degli studi di Bergamo},
}
@inproceedings{li2016alliance,
title={ALLIANCE-ROS: a software architecture on ROS for fault-tolerant cooperative multi-robot systems},
author={Li, Minglong and Cai, Zhongxuan and Yi, Xiaodong and Wang, Zhiyuan and Wang, Yanzhen and Zhang, Yongjun and Yang, Xuejun},
booktitle={Pacific Rim International Conference on Artificial Intelligence},
pages={233--242},
year={2016},
organization={Springer}
}
@Article{earl2020,
author = {Winiarski, Tomasz and Węgierek, Maciej and Seredyński, Dawid and Dudek, Wojciech and Banachowicz, Konrad and Zieliński, Cezary},
journal = {Electronics},
title = {{EARL -- Embodied Agent-Based Robot Control Systems Modelling Language}},
year = {2020},
issn = {2079-9292},
number = {2 - 379},
volume = {9},
article-number = {379},
doi = {10.3390/electronics9020379},
}
@InProceedings{belzunce2016control,
author = {Belzunce, Andres and Li, Ming and Handroos, Heikki},
booktitle = {2016 IEEE 11th Conference on Industrial Electronics and Applications (ICIEA)},
title = {Control system design of a teleoperated omnidirectional mobile robot using {ROS}},
year = {2016},
organization = {IEEE},
pages = {1283--1287},
}
@Article{zander2016model,
author = {Zander, Stefan and Heppner, Georg and Neugschwandtner, Georg and Awad, Ramez and Essinger, Marc and Ahmed, Nadia},
journal = {arXiv preprint arXiv:1601.03998},
title = {A model-driven engineering approach for {ROS} using ontological semantics},
year = {2016},
}
@InProceedings{hua2016automationml,
author = {Hua, Yingbing and Zander, Stefan and Bordignon, Mirko and Hein, Bj{\"o}rn},
booktitle = {2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)},
title = {{From AutomationML to ROS: A model-driven approach for software engineering of industrial robotics using ontological reasoning}},
year = {2016},
organization = {IEEE},
pages = {1--8},
}
@Inproceedings{robotml,
author = {Dhouib, Saadia and Kchir, Selma and Stinckwich, Serge and Ziadi, Tewfik and Ziane, Mikal},
title = {{RobotML}, a Domain-Specific Language to Design, Simulate and Deploy Robotic Applications},
year = {2012},
month = {November},
doi = {10.1007/978-3-642-34327-8_16},
}
@Article{v3cmm_2010,
author = {Diego, Alonso and Cristina, Vicente-Chicote and Francisco, Ortiz and Juan, Pastor and B{\'a}rbara, {\'A}lvarez},
title = {{V3CMM: A 3-view component meta-model for model-driven robotic software development}},
journal = {Journal of Software Engineering in Robotics},
year = {2010},
volume = {1},
number = {1},
pages = {3--17},
publisher = {Universit{\`a} degli studi di Bergamo},
}
@Article{zielinski2017variable,
author = {Cezary Zieliński and Maciej Stefańczyk and Tomasz Kornuta and Maksym Figat and Wojciech Dudek and Wojciech Szynkiewicz and Włodzimierz Kasprzak and Jan Figat and Marcin Szlenk and Tomasz Winiarski and Konrad Banachowicz and Teresa Zielińska and Emmanouil G. Tsardoulias and Andreas L. Symeonidis and Fotis E. Psomopoulos and Athanassios M. Kintsakis and Pericles A. Mitkas and Aristeidis Thallas and Sofia E. Reppou and George T. Karagiannis and Konstantinos Panayiotou and Vincent Prunet and Manuel Serrano and Jean-Pierre Merlet and Stratos Arampatzis and Alexandros Giokas and Lazaros Penteridis and Ilias Trochidis and David Daney and Miren Iturburu},
title = {Variable structure robot control systems: The {RAPP} approach},
journal = {Robotics and Autonomous Systems},
year = {2017},
volume = {94},
pages = {226--244},
abstract = {This paper presents a~method of designing variable structure control systems for robots. As the on-board robot computational resources are limited, but in some cases the demands imposed on the robot by the user are virtually limitless, the solution is to produce a~variable structure system. The task dependent part has to be exchanged, however the task governs the activities of the robot. Thus not only exchange of some task-dependent modules is required, but also supervisory responsibilities have to be switched. Such control systems are necessary in the case of robot companions, where the owner of the robot may demand from it to provide many services.},
doi = {10.1016/j.robot.2017.05.002},
issn = {0921-8890},
publisher = {Elsevier},
}
@Article{zielinski2010motion,
author = {Cezary Zieliński and Tomasz Winiarski},
journal = {International Journal of Robotics Research},
title = {Motion Generation in the {MRROC++} Robot Programming Framework},
year = {2010},
number = {4},
pages = {386-413},
volume = {29},
doi = {10.1177/0278364909348761},
publisher = {Multimedia Archives},
}
@Article{kornuta-bpan-2020,
author = {Kornuta, Tomasz and Zieliński, Cezary and Winiarski, Tomasz},
journal = {Bulletin of the Polish Academy of Sciences: Technical Sciences},
title = {A universal architectural pattern and specification method for robot control system design},
year = {2020},
number = {No. 1 February},
pages = {3--29},
volume = {68},
doi = {10.24425/bpasts.2020.131827},
howpublished = {online},
keywords = {Autonomous Agents, Control Architectures and Programming, service robots, Range Sensing, Recognition, Grasping}
}
%-----------------------------
%frameworki
%-----------------------------
%inna literatura
@article{tasker2020,
author = {Dudek, Wojciech and Winiarski, Tomasz},
journal = {IEEE Access},
title = {{Scheduling of a Robot's Tasks With the TaskER Framework}},
year = {2020},
volume = {8},
number = {},
doi = {10.1109/ACCESS.2020.3020265},
pages = {161449-161471},
grant = {aal-incare},
video = {https://vimeo.com/403391725}
}
@Inproceedings{winiarskimmar2015,
author = {Tomasz Winiarski and Konrad Banachowicz},
title = {Automated generation of component system for the calibration of the service robot kinematic parameters},
booktitle = {20th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2015},
year = {2015},
pages = {1098--1103},
publisher = {IEEE},
}
@misc{winiarski2020intentbased,
title={An intent-based approach for creating assistive robots' control systems},
author={Tomasz Winiarski and Wojciech Dudek and Maciej Stefańczyk and Łukasz Zieliński and Daniel Giełdowski and Dawid Seredyński},
year={2020},
eprint={2005.12106},
archivePrefix={arXiv},
primaryClass={cs.RO}
}
@Article{figat2020robotic,
author = {Figat, Maksym and Zieliński, Cezary},
journal = {IEEE Access},
title = {Robotic system specification methodology based on hierarchical Petri nets},
year = {2020},
pages = {71617--71627},
volume = {8},
publisher = {IEEE},
}
@InProceedings{winiarski2015automation,
author = {Winiarski, Tomasz and Banachowicz, Konrad and Seredyński, Dawid},
booktitle = {Progress in Automation, Robotics and Measuring Techniques. Vol. 2 Robotics.},
title = {{Two mode impedance control of Velma service robot redundant arm}},
year = {2015},
pages = {319--328},
publisher = {Springer},
series = {Advances in Intelligent Systems and Computing (AISC)},
volume = {351},
doi = {10.1007/978-3-319-15847-1\_31},
}
@InProceedings{maruyama2016exploring,
author = {Maruyama, Yuya and Kato, Shinpei and Azumi, Takuya},
booktitle = {Proceedings of the 13th International Conference on Embedded Software},
title = {Exploring the performance of {ROS2}},
year = {2016},
pages = {1--10},
}
@article{erHos2019ros2,
title={A ROS2 based communication architecture for control in collaborative and intelligent automation systems},
author={Er{\H{o}}s, Endre and Dahl, Martin and Bengtsson, Kristofer and Hanna, Atieh and Falkman, Petter},
journal={Procedia Manufacturing},
volume={38},
pages={349--357},
year={2019},
publisher={Elsevier}
}
@Article{tsuji2020reusable,
author = {Tsuji, Hiroyasu and Shii, Mayuka and Yokoyama, Shogo and Takamido, Yuki and Murase, Yuji and Masaki, Soshi and Ohara, Kenichi},
journal = {Advanced Robotics},
title = {{Reusable robot system for display and disposal tasks at convenience stores based on a SysML model and RT Middleware}},
year = {2020},
number = {3-4},
pages = {250--264},
volume = {34},
publisher = {Taylor \& Francis},
}
@InProceedings{ohara2010sysml,
author = {OHARA, Kenichi and TAKUBO, Tomohito and MAE, Yasushi and ARAI, Tatsuo},
booktitle = {The Abstracts of the international conference on advanced mechatronics: toward evolutionary fusion of IT and mechatronics: ICAM 2010.5},
title = {(SysML-based robot system design for manipulation tasks)},
year = {2010},
organization = {The Japan Society of Mechanical Engineers},
pages = {522--527},
}
@InProceedings{bubeck2014bride,
author = {Bubeck, Alexander and Weisshardt, Florian and Verl, Alexander},
booktitle = {ISR/Robotik 2014; 41st International Symposium on Robotics},
title = {{BRIDE - A toolchain for framework-independent development of industrial service robot applications}},
year = {2014},
organization = {VDE},
pages = {1--6},
}
@Article{kumar2016rosmod,
author = {Kumar, Pranav Srinivas and Emfinger, William and Karsai, Gabor and Watkins, Dexter and Gasser, Benjamin and Anilkumar, Amrutur},
journal = {Electronics},
title = {{ROSMOD: a toolsuite for modeling, generating, deploying, and managing distributed real-time component-based software using ROS}},
year = {2016},
number = {3},
pages = {53},
volume = {5},
publisher = {Multidisciplinary Digital Publishing Institute},
}
@InProceedings{bardaro2017aadl,
author = {Bardaro, Gianluca and Semprebon, Andrea and Matteucci, Matteo},
booktitle = {IRC 2017-IEEE International Conference on Robotic Computing},
title = {{AADL for robotics: a general approach for system architecture modeling and code generation}},
year = {2017},
}
@InProceedings{awad2016ros,
author = {Awad, Ramez and Heppner, Georg and Roennau, Arne and Bordignon, Mirko},
booktitle = {2016 IEEE 21st international conference on emerging technologies and factory automation (ETFA)},
title = {{ROS engineering workbench based on semantically enriched app models for improved reusability}},
year = {2016},
organization = {IEEE},
pages = {1--9},
}
@article{wigand2017domain,
title={Domain-specific language modularization scheme applied to a multi-arm robotics use-case},
author={Wigand, Dennis Leroy and Nordmann, Arne and Dehio, Niels and Mistry, Michael and Wrede, Sebastian},
journal={Journal of Software Engineering for Robotics},
volume={8},
number={1},
year={2017}
}
@article{estevez2016novel,
title={A novel model-driven approach to support development cycle of robotic systems},
author={Est{\'e}vez, Elisabet and S{\'a}nchez-Garc{\'\i}a, Alejandro and G{\'a}mez-Garc{\'\i}a, Javier and G{\'o}mez-Ortega, Juan and Satorres-Mart{\'\i}nez, Silvia},
journal={The International Journal of Advanced Manufacturing Technology},
volume={82},
number={1},
pages={737--751},
year={2016},
publisher={Springer}
}
@Article{dao2021oromacs,
author = {Dao, Phong Ba},
journal = {International Journal of Control, Automation and Systems},
title = {{OROMACS: A design framework for multi-agent control system}},
year = {2021},
pages = {1--13},
publisher = {Springer},
}
@article{de2021survey,
title={A survey of Model Driven Engineering in robotics},
author={de Ara{\'u}jo Silva, Edson and Valentin, Eduardo and Carvalho, Jose Reginaldo Hughes and da Silva Barreto, Raimundo},
journal={Journal of Computer Languages},
pages={101021},
year={2021},
publisher={Elsevier}
}
@Article{requc2,
author = {Soares, Michel and Vrancken, Jos and Verbraeck, Alexander},
title = {User requirements modeling and analysis of software-intensive systems},
journal = {Journal of Systems and Software},
year = {2011},
volume = {84},
pages = {328--339},
month = {February},
doi = {10.1016/j.jss.2010.10.020},
}
@article{khaitan2015design,
title={Design techniques and applications of cyberphysical systems: A survey},
author={Khaitan, Siddhartha Kumar and McCalley, James D},
journal={IEEE Systems Journal},
volume={9},
number={2},
pages={350--365},
year={2015},
publisher={IEEE}
}
@Article{przeglad_dsl,
author = {Ramaswamy, Arunkumar and Monsuez, Bruno and Tapus, Adriana},
title = {Model-driven software development approaches in robotics research},
journal = {6th International Workshop on Modeling in Software Engineering, MiSE 2014 - Proceedings},
year = {2014},
month = {June},
doi = {10.1145/2593770.2593781},
isbn = {978-1-4503-2849-4},
}
@Article{dennis2016smartmdsd,
author = {Dennis, Stampfer and Alex, Lotz and Matthias, Lutz and Christian, Schlegel},
title = {The {SmartMDSD} Toolchain: An Integrated MDSD Workflow and Integrated Development Environment ({IDE}) for Robotics Softwaree},
journal = {Journal of Software Engineering in Robotics},
year = {2016},
volume = {7},
number = {1},
pages = {3--19},
publisher = {Universit{\`a} degli studi di Bergamo},
}
@Article{mohd2014robotic,
author = {Mohd, Nor Nur Safwati and Mizukawa, Makoto},
title = {Robotic services at home: An initialization system based on robots' information and user preferences in unknown environments},
journal = {International Journal of Advanced Robotic Systems},
year = {2014},
volume = {11},
number = {7},
pages = {112},
publisher = {SAGE Publications Sage UK: London, England},
}
@Article{rahman2013model,
author = {Rahman, Mohd Azizi Abdul and Mizukawa, Makoto},
title = {Model-based development and simulation for robotic systems with SysML, Simulink and Simscape profiles},
journal = {International Journal of Advanced Robotic Systems},
year = {2013},
volume = {10},
number = {2},
pages = {112},
publisher = {SAGE Publications Sage UK: London, England},
}
@Article{JaniakCZ:2015,
author = {Janiak, Mariusz and Zieliński, Cezary},
title = {Control System Architecture for the Investigation of Motion Control Algorithms on an Example of the Mobile Platform {Rex}},
journal = {Bulletin of the Polish Academy of Sciences -- Technical Sciences},
year = {2015},
volume = {63},
number = {3},
pages = {667--678},
doi = {10.1515/bpasts-2015-0078},
}
@Article{guiochet2017safety,
author = {Guiochet, J{\'e}r{\'e}mie and Machin, Mathilde and Waeselynck, H{\'e}l{\`e}ne},
title = {Safety-critical advanced robots: A survey},
journal = {Robotics and Autonomous Systems},
year = {2017},
volume = {94},
pages = {43--52},
publisher = {Elsevier},
}
@Article{par-agent-2018,
author = {Krzysztof Oprzędkiewicz and Maciej Ciurej and Maciej Garbacz},
title = {The agent, state-space model of the mobile robot},
journal = {Pomiary Automatyka Robotyka},
year = {2018},
volume = {22},
number = {229},
pages = {41--50},
month = {March},
doi = {10.14313/PAR_229/41},
keywords = {agent model, Braitenberg algorithm, design pattern, mobile robot, trajectory planning},
}
@Article{graves2011using,
author = {Graves, Henson and Bijan, Yvonne},
title = {{Using formal methods with SysML in aerospace design and engineering}},
journal = {Annals of Mathematics and Artificial Intelligence},
year = {2011},
volume = {63},
number = {1},
pages = {53--102},
publisher = {Springer},
}
@Article{laleau2010first,
author = {Laleau, R{\'e}gine and Semmak, Farida and Matoussi, Abderrahman and Petit, Dorian and Hammad, Ahmed and Tatibouet, Bruno},
title = {{A first attempt to combine SysML requirements diagrams and B}},
journal = {Innovations in Systems and Software Engineering},
year = {2010},
volume = {6},
number = {1-2},
pages = {47--54},
publisher = {Springer},
}
@Article{knorreck2011tepe,
author = {Knorreck, Daniel and Apvrille, Ludovic and de Saqui-Sannes, Pierre},
title = {{TEPE: a SysML language for time-constrained property modeling and formal verification}},
journal = {ACM SIGSOFT Software Engineering Notes},
year = {2011},
volume = {36},
number = {1},
pages = {1--8},
publisher = {ACM},
}
@Article{chouali2011formal,
author = {Chouali, Samir and Hammad, Ahmed},
title = {{Formal verification of components assembly based on SysML and interface automata}},
journal = {Innovations in Systems and Software Engineering},
year = {2011},
volume = {7},
number = {4},
pages = {265--274},
publisher = {Springer},
}
@Article{stigmergic:2009,
author = {Cezary Zieliński and Piotr Trojanek},
title = {Stigmergic cooperation of autonomous robots},
journal = {Journal of Mechanism and Machine Theory},
year = {2009},
volume = {44},
pages = {656--670},
month = {April},
lang = {en},
}
@Article{systems7020019,
AUTHOR = {Salado, Alejandro and Wach, Paul},
TITLE = {Constructing True Model-Based Requirements in SysML},
JOURNAL = {Systems},
VOLUME = {7},
YEAR = {2019},
NUMBER = {2},
ARTICLE-NUMBER = {19},
URL = {https://www.mdpi.com/2079-8954/7/2/19},
ISSN = {2079-8954},
ABSTRACT = {Some authors suggest that transitioning requirements engineering from the traditional statements in natural language with shall clauses to model-based requirements within a Model-Based Systems Engineering (MBSE) environment could improve communication, requirements traceability, and system decomposition, among others. Requirement elements in the Systems Modeling Language (SysML) fail to fulfill this objective, as they are really a textual requirement in natural language as a model element. Current efforts to directly leverage behavioral and structural models of the system lack an overarching theoretical framework with which to assess the adequacy of how those models are used to capture requirements. This paper presents an approach to construct true model-based requirements in SysML. The presented approach leverages some of SysML’s behavioral and structural models and diagrams, with specific construction rules derived from Wymore’s mathematical framework for MBSE and taxonomies of requirements and interfaces. The central proposition of the approach is that every requirement can be modeled as an input/output transformation. Examples are used to show how attributes traditionally thought of as non-functional requirements can be captured, with higher precision, as functional transformations.},
DOI = {10.3390/systems7020019}
}
@Article{app9030376,
AUTHOR = {Pietrusewicz, Krzysztof},
TITLE = {Metamodelling for Design of Mechatronic and Cyber-Physical Systems},
JOURNAL = {Applied Sciences},
VOLUME = {9},
YEAR = {2019},
NUMBER = {3},
ARTICLE-NUMBER = {376},
URL = {https://www.mdpi.com/2076-3417/9/3/376},
ISSN = {2076-3417},
ABSTRACT = {The paper presents the issue of metamodeling of Domain-Specific Languages (DSL) for the purpose of designing complex mechatronics systems. Usually, one of the problems during the development of such projects is an interdisciplinary character of the team that is involved in this endeavour. The success of a complex machine project (e.g., Computer Numerically Controlled machine (CNC), loading crane, forestry crane) often depends on a proper communication between team members. The domain-specific modelling languages developed using one of the two approaches discussed in the work, lead to a machine design that can be carried out much more efficiently than with conventional approaches. Within the paper, the Meta-Object Facility (MOF) approach to metamodeling is presented; it is much more prevalent in modern modelling software tools than Graph-Object-Property-Relationship-Role (GOPRR). The main outcome of this work is the first presentation of researchML modelling language that is the result of more than twenty ambitious research and development projects. It is effectively used within new enterprises and leads to improved traceability of the project goals. It enables for fully-featured automatic code generation which is one of the main pillars of the agile management within mechatronic system design projects.},
DOI = {10.3390/app9030376}
}
@Article{aerospace5010010,
AUTHOR = {Chhaya, Bharvi and Jafer, Shafagh and Durak, Umut},
TITLE = {Formal Verification of Simulation Scenarios in Aviation Scenario Definition Language (ASDL)},
JOURNAL = {Aerospace},
VOLUME = {5},
YEAR = {2018},
NUMBER = {1},
ARTICLE-NUMBER = {10},
URL = {https://www.mdpi.com/2226-4310/5/1/10},
ISSN = {2226-4310},
ABSTRACT = {Formal methods offer well-defined means for mathematical verification of the functional specifications of software systems. For model-based engineering, model checking is a verification technique that explores all possible system states. The Aviation Scenario Definition Language is a domain-specific language designed based on a scenario development process from a model-driven engineering perspective. It aims at providing a well-structured definition language to specify departure, en route, re-route, and landing scenarios. This paper uses statecharts and a model checker for the verification of each scenario generated and uses examples to demonstrate conformance to the rules established in the statecharts to verify the logic of all future scenarios.},
DOI = {10.3390/aerospace5010010}
}
@Article{machines7020042,
AUTHOR = {Rivera, Zandra B. and De Simone, Marco C. and Guida, Domenico},
TITLE = {Unmanned Ground Vehicle Modelling in Gazebo/ROS-Based Environments},
JOURNAL = {Machines},
VOLUME = {7},
YEAR = {2019},
NUMBER = {2},
ARTICLE-NUMBER = {42},
URL = {https://www.mdpi.com/2075-1702/7/2/42},
ISSN = {2075-1702},
ABSTRACT = {The fusion of different technologies is the base of the fourth industrial revolution. Companies are encouraged to integrate new tools in their production processes in order to improve working conditions and increase productivity and production quality. The integration between information, communication technologies and industrial automation can create highly flexible production models for products and services that can be customized through real-time interactions between consumer, production and machinery throughout the production process. The future of production, therefore, depends on increasingly intelligent machinery through the use of digital systems. The key elements for future integrated devices are intelligent systems and machines, based on human–machine interaction and information sharing. To do so, the implementation of shared languages that allow different systems to dialogue in a simple way is necessary. In this perspective, the use of advanced prototyping tools like Open-Source programming systems, the development of more detailed multibody models through the use of CAD software and the use of self-learning techniques will allow for developing a new class of machines capable of revolutionizing our companies. The purpose of this paper is to present a waypoint navigation activity of a custom Wheeled Mobile Robot (WMR) in an available simulated 3D indoor environment by using the Gazebo simulator. Gazebo was developed in 2002 at the University of Southern California. The idea was to create a high-fidelity simulator that gave the possibility to simulate robots in outdoor environments under various conditions. In particular, we wanted to test the high-performance physics Open Dynamics Engine (ODE) and the sensors feature present in Gazebo for prototype development activities. This choice was made for the possibility of emulating not only the system under analysis, but also the world in which the robot will operate. Furthermore, the integration tools available with Solidworks and Matlab-Simulink, well known commercial platforms of modelling and robotics control respectively, are also explored.},
DOI = {10.3390/machines7020042}
}
@Article{hexel-jint2019,
author = {Zieliński, Cezary and Figat, Maksym and Hexel, Ren{\'e}},
title = {Communication Within Multi-FSM Based Robotic Systems},
journal = {Journal of Intelligent {\&} Robotic Systems},
year = {2019},
volume = {93},
number = {3},
pages = {787--805},
issn = {1573-0409},
doi = {https://doi.org/10.1007/s10846-018-0869-6},
}
@article{Luckcuck:2019,
author = {Luckcuck, Matt and Farrell, Marie and Dennis, Louise A. and Dixon, Clare and Fisher, Michael},
title = {Formal Specification and Verification of Autonomous Robotic Systems: A Survey},
journal = {ACM Comput. Surv.},
issue_date = {October 2019},
volume = {52},
number = {5},
month = {September},
year = {2019},
issn = {0360-0300},
pages = {100:1--100:41},
articleno = {100},
numpages = {41},
doi = {10.1145/3342355},
acmid = {3342355},
publisher = {ACM},
address = {New York, NY, USA},
keywords = {Formal verification, autonomous robotics, formal methods, formal specification},
}
@article{Stenmark2014,
author = {Stenmark, Maj and Malec, Jacek},
year = {2014},
month = {09},
pages = {},
title = {Knowledge-based instruction of manipulation tasks for industrial robotics},
volume = {33},
journal = {Robotics and Computer-Integrated Manufacturing},
doi = {10.1016/j.rcim.2014.07.004}
}
@ARTICLE{Kornuta:13_irs,
author = {Tomasz Kornuta and Cezary Zieliński},
title = {Robot control system design exemplified by multi-camera visual servoing},
journal = {Journal of Intelligent and Robotic Systems},
year = {2013},
volume = {77},
pages = {499--524},
number = {3--4},
doi = {10.1007/s10846-013-9883-x}
}
@Article{robosherlock,
author = {Moritz Tenorth and Michael Beetz},
journal = {The International Journal of Robotics Research},
title = {KnowRob: A knowledge processing infrastructure for cognition-enabled robots},
year = {2013},
number = {5},
pages = {566-590},
volume = {32},
abstract = {Autonomous service robots will have to understand vaguely described tasks, such as “set the table” or “clean up”. Performing such tasks as intended requires robots to fully, precisely, and appropriately parameterize their low-level control programs. We propose knowledge processing as a computational resource for enabling robots to bridge the gap between vague task descriptions and the detailed information needed to actually perform those tasks in the intended way. In this article, we introduce the KnowRobknowledge processing system that is specifically designed to provide autonomous robots with the knowledge needed for performing everyday manipulation tasks. The system allows the realization of “virtual knowledge bases”: collections of knowledge pieces that are not explicitly represented but computed on demand from the robot’s internal data structures, its perception system, or external sources of information. This article gives an overview of the different kinds of knowledge, the different inference mechanisms, and interfaces for acquiring knowledge from external sources, such as the robot’s perception system, observations of human activities, Web sites on the Internet, as well as Web-based knowledge bases for information exchange between robots. We evaluate the system’s scalability and present different integrated experiments that show its versatility and comprehensiveness.},
doi = {10.1177/0278364913481635}
}
@ARTICLE{Brooks:1991_intelligence,
author = {Rodney A. Brooks},
title = {Intelligence without reason},
journal = {Artificial intelligence: critical concepts},
year = {1991},
volume = {3},
pages = {107--163},
owner = {tkornuta},
timestamp = {2012.11.06}
}
@ARTICLE{BrooksScience:1991,
author = {Brooks, R. A.},
title = {New approaches to robotics},
journal = {Science},
year = {1991},
volume = {253},
pages = {1227–-1232},
month = {September},
doi = {10.1126/science.253.5025.1227}
}
@article{CALICIOTTI20187,
title = "An adaptive truncation criterion, for linesearch-based truncated Newton methods in large scale nonconvex optimization",
journal = "Operations Research Letters",
volume = "46",
number = "1",
pages = "7 - 12",
year = "2018",
issn = "0167-6377",
doi = "https://doi.org/10.1016/j.orl.2017.10.014",
author = "Andrea Caliciotti and Giovanni Fasano and Stephen G. Nash and Massimo Roma",
keywords = "Large scale nonconvex optimization, Linesearch-based truncated Newton methods, Krylov subspace methods, Adaptive truncation criterion",
abstract = "Starting from the paper by Nash and Sofer (1990), we propose a heuristic adaptive truncation criterion for the inner iterations within linesearch-based truncated Newton methods. Our aim is to possibly avoid “over-solving” of the Newton equation, based on a comparison between the predicted reduction of the objective function and the actual reduction obtained. A numerical experience on unconstrained optimization problems highlights a satisfactory effectiveness and robustness of the adaptive criterion proposed, when a residual-based truncation criterion is selected."
}
@article{CALICIOTTI2018246,
title = "Data and performance profiles applying an adaptive truncation criterion, within linesearch-based truncated Newton methods, in large scale nonconvex optimization",
journal = "Data in Brief",
volume = "17",
pages = "246 - 255",
year = "2018",
issn = "2352-3409",
doi = "https://doi.org/10.1016/j.dib.2018.01.012",
author = "Andrea Caliciotti and Giovanni Fasano and Stephen G. Nash and Massimo Roma",
abstract = "In this paper, we report data and experiments related to the research article entitled “An adaptive truncation criterion, for linesearch-based truncated Newton methods in large scale nonconvex optimization” by Caliciotti et al. [1]. In particular, in Caliciotti et al. [1], large scale unconstrained optimization problems are considered by applying linesearch-based truncated Newton methods. In this framework, a key point is the reduction of the number of inner iterations needed, at each outer iteration, to approximately solving the Newton equation. A novel adaptive truncation criterion is introduced in Caliciotti et al. [1] to this aim. Here, we report the details concerning numerical experiences over a commonly used test set, namely CUTEst (Gould et al., 2015) [2]. Moreover, comparisons are reported in terms of performance profiles (Dolan and Moré, 2002) [3], adopting different parameters settings. Finally, our linesearch-based scheme is compared with a renowned trust region method, namely TRON (Lin and Moré, 1999) [4]."
}
@Book{Jacobson:2005_uml,
title = {{The Unified Modeling Language} Reference manual, Second Edition},
publisher = {MA: Addison Wesley},
year = {2005},
author = {Booch, Grady and Jacobson, Ivar and Rumbaugh, James},
owner = {max},
timestamp = {2015.02.27},
}
@Book{Friedenthal:2015,
title = {A~practical guide to {SysML}: The systems modeling language. 3rd ed.},
publisher = {Elsevier, Morgan Kaufmann},
year = {2015},
author = {Friedenthal, Sanford and Moore, Alan and Steiner, Rick},
}
@BOOK{UML:2005,
title = {UML 2.0 in a~Nutshell},
publisher = {O'Reilly},
year = {2005},
author = {Pilone, D. and Pitman, N.}
}
@Book{steels2018artificial,
title = {The artificial life route to artificial intelligence: Building embodied, situated agents},
publisher = {Routledge},
year = {2018},
author = {Steels, Luc and Brooks, Rodney},
}
@BOOK{Russell:95,
title = {Artificial Intelligence: A~Modern Approach},
publisher = {Prentice Hall},
year = {1995},
author = {S. Russell and P. Norvig},
address = {Upper Saddle River, N.J.},
lang = {en},
owner = {Szynkiewicz},
timestamp = {2010.10.11}
}
@BOOK{Arkin:98,
title = {Behavior-Based Robotics},
publisher = {MIT Press},
year = {1998},
author = {Ronald C. Arkin},
lang = {en}
}
@Inbook{Rovida2017,
author="Rovida, Francesco
and Crosby, Matthew
and Holz, Dirk
and Polydoros, Athanasios S.
and Gro{\ss}mann, Bjarne
and Petrick, Ronald P. A.
and Kr{\"u}ger, Volker",
editor="Koubaa, Anis",
title="SkiROS---A Skill-Based Robot Control Platform on Top of ROS",
bookTitle="Robot Operating System (ROS): The Complete Reference (Volume 2)",
year="2017",
publisher="Springer International Publishing",
address="Cham",
pages="121--160",
abstract="The development of cognitive robots in ROS still lacks the support of some key components: a knowledge integration framework and a framework for autonomous mission execution. In this research chapter, we will discuss our skill-based platform SkiROS, that was developed on top of ROS in order to organize robot knowledge and its behavior. We will show how SkiROS offers the possibility to integrate different functionalities in form of skill `apps' and how SkiROS offers services for integrating these skill-apps into a consistent workspace. Furthermore, we will show how these skill-apps can be automatically executed based on autonomous, goal-directed task planning. SkiROS helps the developers to program and port their high-level code over a heterogeneous range of robots, meanwhile the minimal Graphical User Interface (GUI) allows non-expert users to start and supervise the execution. As an application example, we present how SkiROS was used to vertically integrate a robot into the manufacturing system of PSA Peugeot-Citro{\"e}n. We will discuss the characteristics of the SkiROS architecture which makes it not limited to the automotive industry but flexible enough to be used in other application areas as well. SkiROS has been developed on Ubuntu 14.04 LTS and ROS indigo and it can be downloaded at https://github.com/frovida/skiros. A demonstration video is also available at https://youtu.be/mo7UbwXW5W0.",
isbn="978-3-319-54927-9",
doi="10.1007/978-3-319-54927-9_4"
}
@InCollection{szlenk2011metamodel,
author = {Szlenk, Marcin},
booktitle = {Dependable Computer Systems},
publisher = {Springer},
title = {{Metamodel and UML profile for functional programming languages}},
year = {2011},
pages = {233--242},
}
@InCollection{Zie:06Springer,
author = {Cezary Zieliński},
title = {Transition-Function Based Approach to Structuring Robot Control Software},
booktitle = {Robot Motion and Control},
publisher = {Springer-Verlag},
year = {2006},
editor = {Krzysztof Kozłowski},
volume = {335},
series = {Lecture Notes in Control and Information Sciences},
pages = {265--286},
abstract = {The presented transition function based formalism can be applied to
specifying programming frameworks for robot controllers executing
very diverse tasks. The paper deals with systems consisting of multiple
embodied agents, influencing the environment through effectors, gathering
information from the environment through sensors and communicating
with other agents through communication channels. The presented code
patterns pertain to agents with the following characteristics: deterministic
or indeterministic, crisp or fuzzy, behavioral or deliberative. The
formalism was instrumental in the design of MRROC++ robot programming
framework, which has been used for producing controllers of single
and two manipulator systems performing diverse tasks. The formalism
introduces rigor into the discussion of the structure of embodied
agent controllers. It is used as the means for the specification
of the functions of the components of the control system and the
structure of the communication links between them. This structures
the implementation of a~programming framework, and that in turn makes
the coding of specific controllers much easier, both from the point
of view of dealing with the hardware configuration of the system
and the specific task that has to be executed.},
lang = {en},
}
@incollection{Dijkstra:74,
author = {Dijkstra, Edsger},
year = {1982},
pages = {60--66},
title = {On the Role Of Scientific Thought},
booktitle={Selected Writings on Computing: A Personal Perspective},
publisher = {Springer--Verlag},
doi = {10.1007/978-1-4612-5695-3_12}
}
@Inproceedings{requc1,
author = {M. {dos Santos Soares} and J. {Vrancken}},
title = {Requirements specification and modeling through {SysML}},
booktitle = {2007 IEEE International Conference on Systems, Man and Cybernetics},
year = {2007},
pages = {1735--1740},
doi = {10.1109/ICSMC.2007.4413936},
issn = {1062-922X},
keywords = {distributed processing;formal specification;natural languages;requirements specification;requirements modeling;SysML;use case diagrams;informal descriptions;natural language;requirements representation;real time distributed system;Natural languages;Unified modeling language;Systems engineering and theory;Costs;Scalability;Safety;Hardware;Personnel;Councils;Software standards},
}
@InProceedings{przeglad_dsl_3,
author = {Nordmann, Arne and Hochgeschwender, Nico and Wrede, Sebastian},
title = {A Survey on Domain-Specific Languages in Robotics},
booktitle = {Simulation, Modeling, and Programming for Autonomous Robots},
year = {2014},
editor = {Brugali, Davide and Broenink, Jan F. and Kroeger, Torsten and MacDonald, Bruce A.},
pages = {195--206},
address = {Cham},
publisher = {Springer International Publishing},
abstract = {The design, simulation and programming of robotics systems is challenging as expertise from multiple domains needs to be integrated conceptually and technically. Domain-specific modeling promises an efficient and flexible concept for developing robotics applications that copes with this challenge. It allows to raise the level of abstraction through the use of specific concepts that are closer to the respective domain concerns and easier to understand and validate. Furthermore, it focuses on increasing the level of automation, e.g. through code generation, to bridge the gap between the modeling and the implementation levels and to improve the efficiency and quality of the software development process. Within this contribution, we survey the literature available on domain-specific (modeling) languages in robotics required to realize a state-of-the-art real-world example from the RoboCup@Work competition. We classify 41 publications in the field as reference for potential DSL users. Furthermore, we analyze these contributions from a DSL-engineering viewpoint and discuss quantitative and qualitative aspects such as the methods and tools used for DSL implementation as well as their documentation status and platform integration. Finally, we conclude with some recommendations for discussion in the robotics programming and simulation community based on the insights gained with this survey.},
isbn = {978-3-319-11900-7},
}
@Inproceedings{robotml2,
author = {S. Kchir and S. Dhouib and J. Tatibouet and B. Gradoussoff and M. Da Silva Simoes},
title = {{RobotML for industrial robots: Design and simulation of manipulation scenarios}},
booktitle = {2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)},
year = {2016},
pages = {1--8},
month = {September},
doi = {10.1109/ETFA.2016.7733727},
keywords = {control engineering computing;industrial manipulators;production engineering computing;software engineering;RobotML;industrial robots;manipulation scenarios;robotic systems;complex systems;MDE;model-driven engineering;industrial manipulators;modelling environment;Papyrus tool;Sybot collaborative robot;Robot kinematics;Service robots;Unified modeling language;DSL;Trajectory;Mobile communication},
}
@Inproceedings{bricks1,
author = {Bruyninckx, Herman and Klotzb{\"u}cher, Markus and Hochgeschwender, Nico and Kraetzschmar, Gerhard and Gherardi, Luca and Brugali, Davide},
title = {The {BRICS} Component Model: A Model-Based Development Paradigm for Complex Robotics Software Systems},
year = {2013},
pages = {1758--1764},
month = {March},
doi = {10.1145/2480362.2480693},
isbn = {9781450316569},
}
@InProceedings{bricks2,
author = {Bischoff, Rainer and Guhl, Tim and Prassler, Erwin and Nowak, Walter and Kraetzschmar, Gerhard and Bruyninckx, Herman and Soetens, Peter and Hägele, Martin and Pott, Andreas and Breedveld, Peter and Broenink, J.F. and Brugali, Davide and Tomatis, Nicola},
title = {BRICS - Best practice in robotics},
booktitle = {ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics)},
year = {2010},
pages = {1-8},
month = {June},
issn = {null},
keywords = {Robustness;Robot kinematics;Software;Hardware;Service robots;Best practices},
}
@Inproceedings{smartsoft,
author = {Lutz, Matthias and Stampfer, Dennis and Lotz, Alex and Schlegel, Christian},
title = {Service robot control architectures for flexible and robust real-world task execution: best practices and patterns},
booktitle = {Informatik 2014},
year = {2014},
editor = {Plödereder, E. AND Grunske, L. AND Schneider, E. AND Ull, D.},
pages = {1295--1306},
address = {Bonn},
publisher = {Gesellschaft für Informatik e.V.},
}
@InProceedings{bruyninckx2001open,
author = {Herman Bruyninckx},
title = {Open robot control software: The {OROCOS} project},
booktitle = {International Conference on Robotics and Automation (ICRA)},
year = {2001},
volume = {3},
pages = {2523--2528},
organization = {IEEE},
}
@InProceedings{quigley2009ros,
author = {Quigley, Morgan and Conley, Ken and Gerkey, Brian and Faust, Josh and Foote, Tully and Leibs, Jeremy and Wheeler, Rob and Ng, Andrew Y},
title = {{ROS: an open-source Robot Operating System}},
booktitle = {ICRA workshop on open source software},
year = {2009},
volume = {3},
number = {3.2},
}
@InProceedings{Baillie:07,
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