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Intelligent Autonomous Systems 13 pp 1437–1449Cite as

Network Controller for Teleoperated Mobile Robotic Agents

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 302))

Abstract

In the communication channels of bilateral teleoperation systems it is critical to keep the delay and delay variation under prescribed limits. Otherwise, the stability and transparency of the teleoperation are compromised. In this paper a network controller is proposed for video supported teleoperation systems implemented over WLANs (Wireless Local Area Networks). The algorithm controls the transfer rates in the video channels which serve for online monitoring of the teleoperation task. The video transfer rate controller was developed using multi-objective optimization and it assures the best achievable video transmission quality for a prescribed delay or jitter in the communication channels of the teleoperator. The performed real-time experimental measurements show that, with the proposed rate control algorithm, the delay and its fluctuation can be substantially reduced in the teleoperation systems implemented over WLAN.

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Acknowledgments

This work was supported by a grant of the Romanian National Authority for Scientific Research, CNCS UEFISCDI, project number PN-II-RU-TE-2011-3-0005. The research was partially supported by the Future Internet Research, Services and Technology TAMOP-4.2.2.C-11/1/KONV-2012-001 research grant.

Author information

Authors and Affiliations

  1. Department of Electrical Engineering, Sapientia Hungarian University of Transylvania, Tirgu Mures, Romania

    Lőrinc Márton, Tamás Vajda & Zoltán Szántó

  2. Department of Informatics, ‘Petru Maior’ University, Tirgu Mures, Romania

    Piroska Haller, Tamás Szabó & Hunor Sándor

Authors
  1. Lőrinc Márton
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  2. Piroska Haller
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  3. Tamás Szabó
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  4. Hunor Sándor
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  5. Tamás Vajda
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  6. Zoltán Szántó
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Corresponding author

Correspondence to Lőrinc Márton .

Editor information

Editors and Affiliations

  1. Information Engineering, University of Padua, Padua, Italy

    Emanuele Menegatti

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA

    Nathan Michael

  3. Fachbereich Informatik, Technische Universität Kaiserslautern Arbeitsgruppe Robotersysteme, Kaiserslautern, Germany

    Karsten Berns

  4. Integrated Information Technology, Aoyama Gakuin University, Tokyo, Japan

    Hiroaki Yamaguchi

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© 2016 Springer International Publishing Switzerland

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Márton, L., Haller, P., Szabó, T., Sándor, H., Vajda, T., Szántó, Z. (2016). Network Controller for Teleoperated Mobile Robotic Agents. In: Menegatti, E., Michael, N., Berns, K., Yamaguchi, H. (eds) Intelligent Autonomous Systems 13. Advances in Intelligent Systems and Computing, vol 302. Springer, Cham. https://doi.org/10.1007/978-3-319-08338-4_103

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  • DOI: https://doi.org/10.1007/978-3-319-08338-4_103

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-08337-7

  • Online ISBN: 978-3-319-08338-4

  • eBook Packages: EngineeringEngineering (R0)

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