Institute of Robotics - BAS

Investigation of Robots and Algorithms Working In Complex Environment

Expected results from the project

1. Description of the results related to acquiring new knowledge or solving social problems

The implementation of the activities set out in WP1 to WP5 will lead to the creation of new theories and methods or the enrichment of existing knowledge related to algorithms for controlling robots for work in a complex environment, summarizing, analyzing and popularizing the world and team experience on the subject .

The implementation of the tasks from WP2 will lead to the systematisation of a set of parameters and criteria that determine the ability of a certain type of robot to perform movements in a complex environment. This corresponds to Hypothesis 1. Such criteria will be useful to assess the abilities of different types of robots operating in complex environments. Practical applications of these results will be useful for other researchers too. The expected measurable results of the implementation of WP1 are publications referenced in Scopus or Web of Science.

The implementation of the tasks from WP3 is expected to lead to new knowledge related to the workspace and configuration space of stationary robots. Configuration space is a fundamental concept in robotics that represents the state of a robot as an n-dimensional point within it. This allows easy application of various mathematical and algorithmic theories to solve optimization problems. This work package is related to the investigation of hypothesis 2. The partitioning of zones according to the solution type of the inverse kinematics problem is an original idea of the ​​team members articulated in papers [17] and [18]. Both articles illustrate the idea with one particular robot. It will be summarized and further developed. Such areas and their properties in other types of robots will be studied. Determining the configuration space and the zones in the presence of obstacles is key to many known robot motion planning algorithms.

The implementation of WP4 activities is expected to lead to the creation of new self-learning control algorithms that are applicable to work in complex environments; testing the researched robot control laws; increasing theoretical training and acquiring new knowledge in modern fast-developing areas of robotics. Partial or complete confirmation of H ypotheses 3 and 4 is expected.

The implementation of WP 5 is expected to lead to the confirmation of the project's hypotheses, through simulation and practical experiments.

The results of the project are physical, mathematical and software models of robots, procedures and techniques for modelling and optimization of systems based on known mathematical methods and software products. Specifically: creating unique robot models through rapid prototyping technology; improvement of the created models, through sensor provision, software control and improvement of mechanical components. Theoretically, it is expected to collect, summarize and evaluate the information obtained from the conducted experiments.

2. Contribution to solutions of problems related to societal challenges

The modern technological world is developing at a very high pace, this requires society to be familiar with the latest technologies and how to interact with them. Robotics is the pinnacle of human achievement and in this aspect, the project contributes to the popularization of this technology.

Increasing the capabilities and qualities of industrial, research and social robots have an immediate effect on improving people's quality of life. The project contributes to this with new research and algorithms for robot control.

The project concerns topics related to the safety and reliability of robotics’ application in their collaborative work with humans.

Bulgaria is a country with extremely good specialists in the IT sector. This sector in recent years has been developing quickly, focusing on developments related not only to purely software and virtual applications, but also those oriented to physically performed activities. Robotics is precisely the connecting link between innovative software and precise mechanical applications in industry, medicine and home environment.

Part of the algorithms for planning motions in a complex environment concerns the simultaneous control of multiple robots. These algorithms can be used to study crowd behavior when evacuating buildings (stadiums, theaters, etc.) due to disasters. Although the project does not directly address these issues, its results may serve other researchers for such socially beneficial applications.

The project team is convinced that the fundamental results of the implementation of the proposed project will provide a basis for future scientific and scientific applied research of this and other collectives both in future projects in frame of Horizon Europe Program and in practice. This guarantees sustainability of the results.

3. Increasing the research capacity of the applying organization, as well as improving team members qualification

The implementation of the project will increase the qualification and experience of Ph.D. students and project participants, through study, research and experiments related to a new dynamically developing field. Participation in the creation of the robot control and software provision of the prototypes. Assembling the models. Programming robots and working with specialized software.

It is expected that during the implementation of the project the two Ph.D. students will complete their dissertations and at least two members of the team to advance to a higher scientific degree .

As a result of the implementation of the project tasks, the capacity of the Institute of Robotics is expected to increase. The equipment purchased under the project and the software created will be used by IR-BAS for research, application and demonstration of various methods and algorithms in the field of robotics and IT technologies. They will be able to be used for teaching Ph.D. students and students. With the planned 12 publications, some of which are open access, the institute's visibility in the international scientific space will increase.

Achieving the goals, tasks and realization of the project will create the necessary prerequisites, environment and conditions for the scientific growth of the scientists included in the scientific team of the project: young scientists, postdoctoral students and Ph.D. students. The members of the team will have the opportunity to work with new technologies and modern equipment and acquire new knowledge related to the management of robots in a complex environment.

The active participation in the project by the team members listed above will contribute to their scientific and professional development in the following aspects:

- Possibility to work in a team including leading specialists in the field;

- Possibility to carry out modern scientific research in the field of robotics;

- Opportunity to participate in renowned international and national scientific forums;

- I ncreasing professional qualifications as a result of solving fundamental scientific problems.