loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Remo Pillat ; Arjun Nagendran and Charles E. Hughes

Affiliation: University of Central Florida, United States

Keyword(s): Mobile Robots, Tele-operation, Virtual Environments, Robot Simulation.

Abstract: Remote operation of robots in distant environments presents a significant challenge for direct control due to inherent issues with latency and available bandwidth. Purely autonomous behaviors in such environments come with the associated risks of failure. It may be advantageous to acquire information about the environment from the robot’s onboard sensors, to re-create a simulation and plan a mission beforehand. The planned mission can then be uploaded to the robot for execution, allowing the physical robot to handle the autonomy required for completing its task. In this paper, the foundations of a control paradigm are presented that uses a simulated virtual environment to decouple the operator from the physical robot, thus circumventing latency problems. To achieve this, it is first required to accurately model the robot’s kinematic parameters for use in the simulation. Kalman filtering techniques that demonstrate this modeling for a differential drive robot are presented in this pap er. The estimated parameters are then used as inputs to a modular planning and execution module. Based on simulation results, a safe and non-redundant path can then be uploaded and executed on the real robot. (More)

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 3.12.148.180

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Pillat, R.; Nagendran, A. and E. Hughes, C. (2012). A CONTROL PARADIGM FOR DECOUPLED OPERATION OF MOBILE ROBOTS IN REMOTE ENVIRONMENTS. In Proceedings of the International Conference on Computer Graphics Theory and Applications and International Conference on Information Visualization Theory and Applications (VISIGRAPP 2012) - SIMIE; ISBN 978-989-8565-02-0; ISSN 2184-4321, SciTePress, pages 553-561. DOI: 10.5220/0003947205530561

@conference{simie12,
author={Remo Pillat. and Arjun Nagendran. and Charles {E. Hughes}.},
title={A CONTROL PARADIGM FOR DECOUPLED OPERATION OF MOBILE ROBOTS IN REMOTE ENVIRONMENTS},
booktitle={Proceedings of the International Conference on Computer Graphics Theory and Applications and International Conference on Information Visualization Theory and Applications (VISIGRAPP 2012) - SIMIE},
year={2012},
pages={553-561},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003947205530561},
isbn={978-989-8565-02-0},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the International Conference on Computer Graphics Theory and Applications and International Conference on Information Visualization Theory and Applications (VISIGRAPP 2012) - SIMIE
TI - A CONTROL PARADIGM FOR DECOUPLED OPERATION OF MOBILE ROBOTS IN REMOTE ENVIRONMENTS
SN - 978-989-8565-02-0
IS - 2184-4321
AU - Pillat, R.
AU - Nagendran, A.
AU - E. Hughes, C.
PY - 2012
SP - 553
EP - 561
DO - 10.5220/0003947205530561
PB - SciTePress

- Science and Technology Publications, Lda.
RESOURCES

Proceedings

Papers

Authors

Ontology

CONTACTS

Science and Technology Publications, Lda
Avenida de S. Francisco Xavier, Lote 7 Cv. C,
2900-616 Setúbal, Portugal.

Phone: +351 265 520 185 (National fixed network call)
Fax: +351 265 520 186
Email: info@scitepress.org

EXTERNAL LINKS

PRIMORIS

INSTICC

SCITEVENTS

CROSSREF

PROCEEDINGS SUBMITTED FOR INDEXATION BY:

dblp

Ei Compendex

SCOPUS

Semantic Scholar

Google Scholar

Microsoft Academic