A co-design approach for bilateral teleoperation over hybrid network

Abstract

Abstract-This paper describes a joint approach for control and communication network design for the application of bilateral teleoperation system (BTS). By ensuring a QoS oriented network architecture, a better quality of control (QoC) can be guaranteed despite the presence of time delays and packet losses. In this work, a joint approach is presented for the co-design problem to observe the improvements in QoC by network QoS for the bilateral teleoperation application.

Internet-based Bilateral Teleoperation Using a Revised Time-Domain Passivity Controller

“…Several approaches were proposed to implement telerobotic systems over the Internet, such as the Plugfest experiment [10] (unilateral teleoperation) or teleoperation over the PlanetLab overlay network [1]. In the work [9], a control and communication co-design approach was proposed for the distant teleoperation of drive by wireless vehicles.…”