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Beacon-based Swarm Search and Rescue
(Wydawnictwo Politechniki Łódzkiej, 2023) Ratnayake, Sunil; Figat, Maksym
Evolution of Robotic System Specification Methodology
(Wydawnictwo Politechniki Łódzkiej, 2023) Figat, Maksym; Zieliński, Cezary
Design of robotic systems is a challenging task. More than 30 years ago some members of our team have embarked on a quest to find a general methodology for the design of any robotic system. Here we present the results that have been obtained thus far – a Robotic System Specification Methodology (RSSM). The foundation of RSSM is a metamodel – the scaffolding of any robotic system. Appropriate definition of the parameters of the metamodel transforms it into a model of a particular system, thus providing its specification, which in turn is translated into the control system code.
Hierarchical Distributed Cluster-based Method for Robotic Swarms
(Wydawnictwo Politechniki Łódzkiej, 2023) Mastej, Bartłomiej; Figat, Maksym
The growing interest in autonomous systems inspired by nature has led to a major shift towards swarm robotics. The main characteristics of swarms are independence from global knowledge, scalability and relatively low cost. However, the design of a swarm system is still a challenging task. Most of the existing research focuses on the task-specific solutions, which are hardly applicable to other solutions. Therefore, in this paper we present the method that provides a general guideline for the design of the swarm systems. The approach is verified in the simulation of the letter formation task.