2026-05-27T20:40:15Zhttps://riuma.uma.es/rest/oai/requestoai:riuma.uma.es:10630/84322026-02-03T11:48:20Zcom_10630_2254col_10630_37959
RIUMA. Repositorio Institucional de la Universidad de Málaga
author
Martínez-Tenor, Ángel
author
Gago-Benítez, Ana
author
Fernández-Madrigal, Juan Antonio
author
Cruz-Martín, Ana María
author
Asenjo-Plaza, Rafael
author
González-Navarro, María Ángeles
2014-11-18T08:52:06Z
2014-11-18T08:52:06Z
2014-11-18
http://hdl.handle.net/10630/8432
http://orcid.org/0000-0003-1376-7967
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.
eng
Autómatas - Sistemas de control
Hierarchical regulation of sensor data transmission for networked telerobots
conference output
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