Variable structure robot control systems: The RAPP approach

Cezary Zieliński (1) , Maciej Stefańczyk (1) , Tomasz Kornuta (1) , Maksym Figat (1) , Wojciech Dudek (1) , Wojciech Szynkiewicz (1) , Włodzimierz Kasprzak (1) , Jan Figat (1) , Marcin Szlenk (1) , Tomasz Winiarski (1) , Konrad Banachowicz (1) , Teresa Zielińska (1) , Emmanouil G. Tsardoulias (2) , Andreas L. Symeonidis (2) , Fotis E. Psomopoulos (2) , Athanassios M. Kintsakis (3) , Pericles A. Mitkas (3) , Aristeidis Thallas (3) , Sofia E. Reppou (4) , George T. Karagiannis (4) , Konstantinos Panayiotou (4) , Vincent Prunet (5) , Manuel Serrano (5) , Jean-Pierre Merlet (6) , Stratos Arampatzis (7) , Alexandros Giokas (7) , Lazaros Penteridis (7) , Ilias Trochidis (7) , David Daney (8) , Miren Iturburu (9)

1 Warsaw University of Technology [Warsaw]
2 ITI - Informatics & Telematics Institute
3 Department of Electrical & Computer Engineering [Thessaloniki]
4 Ormylia Foundation [Ormylia]
5 INDES - Secure Diffuse Programming
6 HEPHAISTOS - HExapode, PHysiologie, AssISTance et Objets de Service
7 Coventry University
8 AUCTUS - Augmenting human comfort in the factory using cobots
9 Instituto Gerontologico Matia [San Sebastián]

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. "

Mots clés: Cloud robotics; Robot controllers; Variable structure controllers; RAPP

Domaines: Informatique et langage [cs.CL]

Cezary Zieliński, Maciej Stefańczyk, Tomasz Kornuta, Maksym Figat, Wojciech Dudek, et al.. Variable structure robot control systems: The RAPP approach. Robotics and Autonomous Systems, 2017, 94, pp.18. ⟨10.1016/j.robot.2017.05.002⟩. ⟨hal-01550448⟩