Semi-autonomous micro robot control and video relay through Internet and Iridium networks

Capt. Robert H.. Bledsoe; Ravi Vaidyanathan; Jayson Durham; Xiaoping Yun

1st International ICST Conference on Robot Communication and Coordination

Research Article

Semi-autonomous micro robot control and video relay through Internet and Iridium networks

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@INPROCEEDINGS{10.4108/ICST.ROBOCOMM2007.2193,
    author={Capt. Robert H.. Bledsoe and Ravi Vaidyanathan and Jayson Durham and Xiaoping Yun},
    title={Semi-autonomous micro robot control and video relay through Internet and Iridium networks},
    proceedings={1st International ICST Conference on Robot Communication and Coordination},
    proceedings_a={ROBOCOMM},
    year={2010},
    month={5},
    keywords={Networked robots micro robots relayed communication teleoperation semi-autonomous systems Internet Iridium distributed network ad hoc networking},
    doi={10.4108/ICST.ROBOCOMM2007.2193}
}

Capt. Robert H.. Bledsoe
Ravi Vaidyanathan
Jayson Durham
Xiaoping Yun
Year: 2010
Semi-autonomous micro robot control and video relay through Internet and Iridium networks
ROBOCOMM
ICST
DOI: 10.4108/ICST.ROBOCOMM2007.2193

Capt. Robert H.. Bledsoe¹^,*, Ravi Vaidyanathan^2,3^,*, Jayson Durham⁴^,*, Xiaoping Yun³^,*

1: (USMC), US Defense Advanced Research Projects Agency (DARPA), Arlington, VA, USA
2: University of Southampton, Southampton, UK
3: US Naval Postgraduate School, Monterey, CA, USA, Phone: +44 7979 330 814
4: US Navy Space Warfare Command Center (SPAWAR), San Diego, CA, USA

*Contact email: rhbledsoe@nps.edu, rv2@soton.ac.uk, jasyon.durham@navy.mil_, xyun@nps.edu

Abstract

This paper describes the experimental design, implementation, and testing of a network for tele-command, control, and communications of micro robots over long distances. The system utilizes commercial low bandwidth satellites to transmit near real-time video and leverages micro-robot platform synergies for command-communications relays. The system is capable of controlling micro ground vehicles and micro air vehicles (MAVs) over long distances using a small UAV as a communications relaying device. System elements meet size, power and mass constraints such that they may interface with control and power subsystems on micro robotic platforms and are scalable to control several entities simultaneously. We report the successful testing of the system in intercontinental experiments for control of both aerial and terrestrial micro robots between the Naval Postgraduate School (NPS) in Monterey, CA, USA, The University of Southampton, UK, and Space Warfare Systems Command (SPAWAR) in San Diego, CA, USA. We believe this research will serve as a proof of concept for future testing for a wide range of micro robotic command and control applications.

Keywords: Networked robots micro robots relayed communication teleoperation semi-autonomous systems Internet Iridium distributed network ad hoc networking

Published: 2010-05-16
Modified: 2010-05-16

: http://dx.doi.org/10.4108/ICST.ROBOCOMM2007.2193