Email: janusz.jakubiak@pwr.edu.pl

Unit: Faculty of Electronics, Photonics and Microsystems (N) » Department of Cybernetics and Robotics

ul. Z. Janiszewskiego 11/17, 50-372 Wrocław
building C-3, room 331
phone +48 71 320 2644

Office hours

 

Link to courses

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Research fields

• Mobile robotics; control systems; motion planning.

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Recent papers

2019

• Tchoń K., Ratajczak J., Jakubiak J. (2019) Normal Forms of Robotic Systems with Affine Pfaffian Constraints: A Case Study. In: Lenarcic J., Parenti-Castelli V. (eds) Advances in Robot Kinematics 2018. ARK 2018. Springer Proceedings in Advanced Robotics, vol 8. Springer, Cham. doi: 10.1007/978-3-319-93188-3_29

2018

• J. Jakubiak, "On Barycentric Coordinates in Control of a Thruster Driven Spacecraft," 2018 13th APCA International Conference on Automatic Control and Soft Computing (CONTROLO), Ponta Delgada, 2018, pp. 165-170, doi: 10.1109/CONTROLO.2018.8516405

2017

• Drwięga M., Jakubiak J., A set of depth sensor processing ROS tools for wheeled mobile robot navigation. Journal of Automation, Mobile Robotics & Intelligent Systems. 2017, vol. 11, nr 2, s. 48-56.
• Arent K., Cholewiński M., Chojnacki Ł., Domski W. G., Drwięga M., Jakubiak J., Janiak M., Kreczmer B., Kurnicki A., Stańczyk B., Szczęśniak-Stańczyk D., Selected topics in design and application of a robot for remote medical examination with use of ultrasonography and auscultation from the perspective of the ReMeDi project. Journal of Automation, Mobile Robotics & Intelligent Systems. 2017, vol. 11, nr 2, s. 82-94.

2015

• Jakubiak J., Magiera W.J., Tchoń K., Control and motion planning of a non-holonomic parallel orientig platform. Journal of Mechanisms and Robotics. 2015, vol. 7, nr 4, s. 041019-041031.

2014

• Jakubiak J., Ratajczak A.G., Kinematics and motion planning of the multi-bar system. Journal of Intelligent and Robotic Systems. 2014, vol. 75, nr 1, s. 5-15.
• Tchoń K., Jakubiak J., Motion planning of non-holonomic parallel orienting platform: a Jacobian approach. W: Advances in robot kinematics / Jadran Lenarčič, Oussama Khatib (Eds.). Cham [i in.]: Springer, cop. 2014. s. 95-103.

2012

• Jakubiak J., Tchoń K., Janiak M., Motion planning of the multi-bar system: the imbalanced Jacobian algorithm. W: Latest advances in robot kinematics / Jardan Lenarčič, Manfred Husty (eds.). Dordrecht [i in.]: Springer, cop. 2012. s. 59-66.
• Tchoń K., Jakubiak J., Grosch P., Thomas F., Motion planning for parallel robots with non-holonomic joints. W: Latest advances in robot kinematics / Jardan Lenarčič, Manfred Husty (eds.). Dordrecht [i in.]: Springer, cop. 2012. s. 115-122.

2010

• Jakubiak J., Tchoń K., Magiera W.J., Motion planning in velocity affine mechanical systems. International Journal of Control. 2010, vol. 83, nr 9, s. 1965-1974.

Full publication list in DONA /university database/

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1	Monograph chapter 2022 Elżbieta Roszkowska, Janusz Jakubiak, Sterowanie wielopoziomowe grupą robotów mobilnych we wspólnej przestrzeni ruchu = Multi-level control of a group of mobile robots in a shared motion space. W: Postępy robotyki. T. 1 / pod red. Alicji Mazur i Cezarego Zielińskiego. Warszawa : Oficyna Wydawnicza Politechniki Warszawskiej, 2022. s. 243-254. ISBN: 978-83-8156-410-6 Resources:SFX
2	Monograph chapter 2022 Bogdan Kreczmer, Krzysztof Arent, Janusz Jakubiak, System sensoryczny wielomodalnej percepcji otoczenia - koncepcja i analiza przypadków użycia = Sensory system of multimodal perception of the environment - concept and analysis of use cases. W: Postępy robotyki. T. 2 / pod red. Alicji Mazur i Cezarego Zielińskiego. Warszawa : Oficyna Wydawnicza Politechniki Warszawskiej, 2022. s. 63-76. ISBN: 978-83-8156-410-6 Resources:SFX
3	Proceeding paper 2022 Janusz Jakubiak, Analytical solution for the fixed-path coordination of two mobile robots. W: CONTROLO 2022 : Proceedings of the 15th APCA International Conference on Automatic Control and Soft Computing, July 6-8, 2022, Caparica, Portugal / eds. Luís Brito Palma, Rui Neves-Silva, Luís Gomes. Cham : Springer, cop. 2022. s. 95-104. ISBN: 978-3-031-10046-8; 978-3-031-10047-5 Resources:DOISFX
4	Article 2022 Jarosław Szrek, Janusz Jakubiak, Radosław Zimroz, A mobile robot-based system for automatic inspection of belt conveyors in mining industry. Energies. 2022, vol. 15, nr 1, art. 327, s. 1-16. ISSN: 1996-1073 Resources:DOIURLSFX
5	Article 2021 Elżbieta Roszkowska, Janusz Jakubiak, Control synthesis for multiple mobile robot systems. Transactions of the Institute of Measurement and Control. 2021, s. 1-10. ISSN: 0142-3312; 1477-0369 Resources:DOIURL
6	Proceeding paper 2020 Elżbieta Roszkowska, Janusz Jakubiak, Testbed for control synthesis for multiple mobile robot systems : general concept and current research. W: 7th International Conference on Control, Decision and Information Technologies (CoDIT), June 29-July 2, 2020 Prague, Czech Republic. [Piscataway, NJ] : IEEE, cop. 2020. s. 1179-1184. ISBN: 978-1-7281-5953-9; 978-1-7281-5952-2 Resources:DOIURL
7	Monograph chapter 2019 Joanna Ratajczak, Janusz Jakubiak, Normal forms of robotic systems with affine Pfaffian constraints : a case study. W: Advances in robot kinematics 2018 / Jadran Lenarcic, Vincenzo Parenti-Castelli (eds.). Cham : Springer, cop. 2019. s. 250-257. ISBN: 978-3-319-93187-6 Resources:DOISFX
8	Proceeding paper 2018 Janusz Jakubiak, On barycentric coordinates in control of a thruster driven spacecraft. W: 2018 13th APCA International Conference on Automatic Control and Soft Computing (CONTROLO), Ponta Delgada, São Miguel Island, Azores, Portugal, 4-6 June 2018 : proceedings / eds. Teixeira C. [i in.]. Danvers, MA : IEEE, cop. 2018. s. 165-170. ISBN: 978-1-5386-5346-3 Resources:DOIURL
9	Monograph chapter 2018 Janusz Jakubiak, Współrzędne barycentryczne w sterowaniu robotem kosmicznym z redundantnymi napędami = Barycentric coordinates in control of space robot with redundant thrusters. W: Postępy robotyki / pod red. Krzysztofa Tchonia i Cezarego Zielińskiego. Warszawa : Oficyna Wydawnicza Politechniki Warszawskiej, 2018. s. 87-96. ISBN: 978-83-7814-799-2 Resources:SFX
10	Proceeding paper 2017 Paweł Stefaniak, Jacek Wodecki, Janusz Jakubiak, Radosław Zimroz, Development of test rig for robotization of mining technological processes - oversized rock breaking process case. W: World Multidisciplinary Earth Sciences Symposium (WMESS 2017) : 11-15 September 2017, Prague, Czech Republic / eds. Drusa M. [i in.]. [Bristol] : IOP Publishing, 2017. art. 042028, s. 1-9. Resources:DOISFX