Communication-Focused Top-Down Design of Robotic Systems Based on Binary Decomposition

Piotr Pałka, Cezary Zieliński, Wojciech Dudek, Dawid Seredyński and Wojciech Szynkiewicz
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Piotr Pałka: Institute of Control and Automation Engineering, Faculty of Electronics and Information Technology, Warsaw University of Technology, Nowowiejska 15/19, 00-665 Warsaw, Poland
Cezary Zieliński: Institute of Control and Automation Engineering, Faculty of Electronics and Information Technology, Warsaw University of Technology, Nowowiejska 15/19, 00-665 Warsaw, Poland
Wojciech Dudek: Institute of Control and Automation Engineering, Faculty of Electronics and Information Technology, Warsaw University of Technology, Nowowiejska 15/19, 00-665 Warsaw, Poland
Dawid Seredyński: Institute of Control and Automation Engineering, Faculty of Electronics and Information Technology, Warsaw University of Technology, Nowowiejska 15/19, 00-665 Warsaw, Poland
Wojciech Szynkiewicz: Institute of Control and Automation Engineering, Faculty of Electronics and Information Technology, Warsaw University of Technology, Nowowiejska 15/19, 00-665 Warsaw, Poland

Energies, 2022, vol. 15, issue 21, 1-25

Abstract: This article proposes a formal method of designing robotic systems focusing on communication between components, as well as standardization of the messages between those components. The objective is to design a robotic system controller in a systematic way, focusing on communication at an abstract agent level. Communication, thus organized, and its properly defined specification facilitate the system’s further development. The method uses a standard message structure, based on IEEE FIPA standards, for communication within robotic systems composed of agents. Communication-focused top-down design of robotic systems based on binary decomposition is proposed, and used to design a companion robot working in the kitchen environment. The implemented robotic system is verified based on whether or not the specification conforms to the specified requirements. The characteristics of the designed communication are evaluated. The obtained results prove that the proposed method of designing robotic systems is formally correct, it facilitates the implementation of agents, and separates specification of the system from its implementation. The method of designing robotic systems is correct and useful. The proposed formal notation facilitates understanding of how the system operates and organizes the design process. It puts the communication between system components at the forefront. The resulting system specification facilitates the implementation. The tools for experimental evaluation of its characteristics enable the confirmation that it fulfills the requirements, and that the communication between the system components is correct.

Keywords: robot design; system design; communication approach; robotic agent; robot controller (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2022
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