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Safe and efficient mobile robot teleoperation via a network with communication delay

Masmoudi Mostefa 1 Lahouari Kaddour El Boudadi 2 Jean Vareille 3
3 Lab-STICC_UBO_CID_IRIS
IBNM - Institut Brestois du Numérique et des Mathématiques, Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
Abstract : This paper presents the remote control of a mobile robot via the Internet. The delay time is one of the biggest obstacles for many real-time applications, especially for Internet-based control systems. This article presents three architectures to control a robot in an Internet network with- out guaranteed quality of service. These architectures allow us to control the robot movements accurately and safely. This work presents the use of virtual reality in the context of the remote control. Virtual reality can be used in a conventional manner to simulate the behavior of a system, but also in parallel with the real system to improve the quality of control. To validate our work, we conducted teleoperation experiments in various places, and the experimental results show the advantages and drawbacks of each proposed architecture.
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Journal articles
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https://hal.univ-brest.fr/hal-01691215
Contributor : Jean Vareille <>
Submitted on : Tuesday, January 23, 2018 - 5:02:51 PM
Last modification on : Wednesday, June 24, 2020 - 4:19:45 PM

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Masmoudi Mostefa, Lahouari Kaddour El Boudadi, Jean Vareille. Safe and efficient mobile robot teleoperation via a network with communication delay. International Journal on Interactive Design and Manufacturing, Springer Verlag, 2017, ⟨10.1007/s12008-017-0370-7⟩. ⟨hal-01691215⟩

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