I’m a software engineer with experience in robotics, autonomous vehicles, and telecommunication. I have received my Ph.D. in Automation and Robotics from Wrocław University of Science and Technology – working on localization and mapping in multi-robot systems. I’m developing several software and hardware projects related to mobile robotics, motors control, and electronics in my spare time. On this webpage, I’d like to show you several solutions and issues related to these projects.
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Personal projects
Software projects (open source)
- depth_nav_tools – A set of ROS tools for mobile robots navigation based on data from RGB-D sensors
- bosch_imu_driver – A ROS driver for IMU Bosch BNO055
- 3d_map_server – A 3D map server that integrates octomaps based on matched 3D features for the ROS framework
- qr_detector – QR codes detector for ROS framework
- linak_desk – A Linak desk driver for Home Assistant
Autonomous mobile robots (HW + SW)
- Four-wheeled mobile robot
- Autonomous navigation system based on ROS, intended for a four-wheeled mobile robot equipped with Kinect sensor
- Four-wheeled robot base
- The power supply module of the robot
- The measurement unit of the four-wheeled mobile robot
- The motor controller for the four-wheeled robot
- User application to control a mobile robot in Qt framework (C++)
- Two-wheeled mobile robot for mini-sumo competitions
Motors controllers (HW + SW)
- DC motors controller for mobile robots with USB communication and ROS support
- The user interface for configuration, tuning, and diagnosis of the device (Qt, C++)
- md_drive_ros – A ROS node for the motors controller
- BLDC motors controller and testbed
Publications
- M. Drwięga, E. Roszkowska. Multi-Robot Mapping Based on 3D Maps Integration, in Autonomous Mobile Mapping Robots, London, United Kingdom: IntechOpen, 2022
- M. Drwięga. 3D Maps Integration Based on Overlapping Regions Matching, Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS), 2022
- M. Drwięga. Incremental 3D Maps Server Based on Feature Matching for Multi-Robot Systems, Methods and Models in Automation and Robotics (MMAR), 25h International Conference on, 2021
- M. Drwięga. Features Matching based Merging of 3D Maps in Multi-Robot Systems, Methods and Models in Automation and Robotics (MMAR), 24th International Conference on, 2019
- M. Drwięga. Efficient Integration of Octree Based Maps in Multi-Robot System, Methods and Models in Automation and Robotics (MMAR), 23th International Conference on, 2018
- M. Drwięga, J. Jakubiak. A set of depth sensor processing ROS tools for wheeled mobile robot navigation, Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS), 2017
- K. Arent, M. Cholewiński, Ł. Chojnacki, W. Domski, M. Drwięga, J. Jakubiak, M. Janiak, B. Kreczmer, A. Kurnicki, B. Stańczyk, D. Szczęśniak-Stańczyk. Selected Topics in Design and Application of a Robot for Remote Medical Examination with the Use of Ultrasonography and Ascultation from the Perspective of the REMEDI Project, Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS), 2017
- K. Arent, J. Jakubiak, M. Drwięga, M. Cholewiński, G. Stollnberger, M. Giuliani, M. Tscheligi, D. Szcześniak-Stańczyk, M. Janowski, W. Brzozowski. Control of mobile robot for remote medical examination: design concepts and users’ feedback from experimental studies, Human System Interaction (HSI), 9th International Conference on, Portsmouth (UK), 2016
- M. Drwięga, J. Jakubiak. Zestaw narzędzi wspomagających nawigację kołowym robotem mobilnym wyposażonym w sensor głębi, Krajowa Konferencja Robotyki (KKR), 2016
- J. Jakubiak, M. Drwięga, A. Kurnicki. Development of a mobile platform for a remote medical teleoperation robot, Methods and Models in Automation and Robotics (MMAR), 21th International Conference on, 2016
- K. Arent, D. Szczęśniak-Stańczyk, B. Stańczyk, M. Cholewiński, Ł. Chojnacki, W. Domski, M. Drwięga, J. Jakubiak, M. Janiak, B. Kreczmer, A. Kurnicki. Zastosowanie robota do telediagnostyki medycznej z perspektywy projektu ReMeDi, Krajowa Konferencja Robotyki (KKR), 2016
- M. Drwięga, Określanie lokalizacji źródła dźwięku z wielopunktowego nasłuchu. W: Komputerowe przetwarzanie wiedzy. Kolekcja prac 2014/2015 pod redakcją Tomasza Kubika: Tomasz Kubik, 2016. s. 96-107
- J. Jakubiak, M. Drwięga and B. Stańczyk, Control and perception system for ReMeDi robot mobile platform, Methods and Models in Automation and Robotics (MMAR), 2015 20th International Conference on, Międzyzdroje, 2015, s. 750-755.
- M. Drwięga, Validation, and comparison of navigation systems in wheeled platforms with different drive mechanisms and sensors. Student’s Science Conference (SSC), 2015, s. 278-283
Diploma theses
- Localization and mapping in multiple mobile robot systems (PL),
Wrocław University of Science and Technology, Ph.D. thesis, 2022 - Collision-free indoor navigation of a mobile robot equipped with the Kinect sensor (PL),
Wrocław University of Science and Technology, master thesis, 2015 - Application of sensor fusion to wheeled robot localization (PL),
Wrocław University of Science and Technology, engineering thesis, 2013