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Compensation of out-of-order delivery using Kalman Filter for teleoperation system | IEEE Conference Publication | IEEE Xplore

Compensation of out-of-order delivery using Kalman Filter for teleoperation system


Abstract:

This paper proposes a new method to compensate out-of-order delivery in teleoperation systems with network. Out-of-order packets generally deteriorate the performance of ...Show More

Abstract:

This paper proposes a new method to compensate out-of-order delivery in teleoperation systems with network. Out-of-order packets generally deteriorate the performance of the system. Re-order buffer is one of the methods to compensate out-of-order delivery. However, designing of the size of re-order buffer is difficult and this buffer makes additional time-delay to wait for the delayed packets. This time-delay degrades the real-time property of the teleoperation system. Therefore, this paper proposes a new compensation method using Kalman Filter. This method considers out-of-order delivery as noise in the system and compensates it in the spatial domain in real time. The experimental results show the validity of the proposed method.
Date of Conference: 14-16 March 2014
Date Added to IEEE Xplore: 02 June 2014
Electronic ISBN:978-1-4799-2323-6

ISSN Information:

Conference Location: Yokohama, Japan

References

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