Remote Experiments With Mobile Robot Hardware via Internet at Limited Link Capacity
Mobile robots provide a motivating basis for hardware experiments in kinematics, dynamics, and control topics. A suitable infrastructure is to be established in order to offer a worldwide user community of students' access to the mobile robots via Internet. Functionalities in the area safety, user management, hardware interfaces, and constraints related to the available link quality must be taken into account. In this paper, in particular, aspects related to efficient teleoperation of mobile robots despite communication link constraints are analyzed. Details of the technical implementation of the system architecture are described as well as characteristic performance measurements.
IEEE Transactions on Industrial Electronics