RT Conference Proceedings
T1 Hierarchical regulation of sensor data transmission for networked telerobots
A1 Martínez-Tenor, Ángel
A1 Gago-Benítez, Ana
A1 Fernández-Madrigal, Juan Antonio
A1 Cruz-Martín, Ana María
A1 Asenjo-Plaza, Rafael
A1 González-Navarro, María Ángeles
K1 Autómatas - Sistemas de control
AB Networked telerobots carry sensors that send data, with stochastic transmission times, to a remote human operator, who must execute some real-time control task (e.g., navigation). In this paper we propose to regulate the sensory information being transmitted in order to guarantee soft real-time requirements and also optimize the quality of control, through a novel two-level hierarchical controller that both varies the amount of transmitted sensor data and dynamically reconfigures active sensors. Our controller has been implemented in a web-based teleoperator interface that is highly portable (it runs on desktop PCs, tablets, smartphones, etc.) and non-invasive, i.e., requires minimal modifications in the existing components of the system, thus being suitable for many applications. Here we present our regulation methods and the results of some experiments. They demonstrate the maximization of the transmitted data while guaranteeing the real-time requirements.
YR 2014
FD 2014-11-18
LK http://hdl.handle.net/10630/8432
UL http://hdl.handle.net/10630/8432
LA eng
NO Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 20 ene 2026