Prof. Wojciech Moczulski Profile

Prof. Wojciech Moczulski

at Silesian Univ of Technology

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Proceedings Article | 5 October 2017 Presentation + Paper

Control system of the inspection robots group applying auctions and multi-criteria analysis for task allocation

Wawrzyniec Panfil, Wojciech Moczulski

Proceedings Volume 10441, 104410K (2017) https://doi.org/10.1117/12.2278247

KEYWORDS: Robots, Inspection, Control systems, Robotic systems, Systems modeling, Sensors, Robotics, Control systems design

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In the paper presented is a control system of a mobile robots group intended for carrying out inspection missions. The main research problem was to define such a control system in order to facilitate a cooperation of the robots resulting in realization of the committed inspection tasks. Many of the well-known control systems use auctions for tasks allocation, where a subject of an auction is a task to be allocated. It seems that in the case of missions characterized by much larger number of tasks than number of robots it will be better if robots (instead of tasks) are subjects of auctions. The second identified problem concerns the one-sided robot-to-task fitness evaluation. Simultaneous assessment of the robot-to-task fitness and task attractiveness for robot should affect positively for the overall effectiveness of the multi-robot system performance. The elaborated system allows to assign tasks to robots using various methods for evaluation of fitness between robots and tasks, and using some tasks allocation methods. There is proposed the method for multi-criteria analysis, which is composed of two assessments, i.e. robot’s concurrency position for task among other robots and task’s attractiveness for robot among other tasks. Furthermore, there are proposed methods for tasks allocation applying the mentioned multi-criteria analysis method. The verification of both the elaborated system and the proposed tasks’ allocation methods was carried out with the help of simulated experiments. The object under test was a group of inspection mobile robots being a virtual counterpart of the real mobile-robot group.

Proceedings Article | 5 October 2017 Presentation + Paper

Autonomous mobile robotic system for supporting counterterrorist and surveillance operations

Marek Adamczyk, Kazimierz Bulandra, Wojciech Moczulski

Proceedings Volume 10441, 104410N (2017) https://doi.org/10.1117/12.2278657

KEYWORDS: Radar, Surveillance, Telecommunications, Robotic systems, Control systems, Global Positioning System, Mobile robots, Data fusion, Classification systems, Acoustics

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Contemporary research on mobile robots concerns applications to counterterrorist and surveillance operations. The goal is to develop systems that are capable of supporting the police and special forces by carrying out such operations. The paper deals with a dedicated robotic system for surveillance of large objects such as airports, factories, military bases, and many others. The goal is to trace unauthorised persons who try to enter to the guarded area, document the intrusion and report it to the surveillance centre, and then warn the intruder by sound messages and eventually subdue him/her by stunning through acoustic effect of great power. The system consists of several parts. An armoured four-wheeled robot assures required mobility of the system. The robot is equipped with a set of sensors including 3D mapping system, IR and video cameras, and microphones. It communicates with the central control station (CCS) by means of a wideband wireless encrypted system. A control system of the robot can operate autonomously, and under remote control. In the autonomous mode the robot follows the path planned by the CCS. Once an intruder has been detected, the robot can adopt its plan to allow tracking him/her. Furthermore, special procedures of treatment of the intruder are applied including warning about the breach of the border of the protected area, and incapacitation of an appropriately selected very loud sound until a patrol of guards arrives. Once getting stuck the robot can contact the operator who can remotely solve the problem the robot is faced with.

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