Research Article
Teledrive: AMulti-masterHybrid Mobile Telerobotics System with FederatedAvatarControl
@INPROCEEDINGS{10.1007/978-3-030-94822-1_6, author={Ashis Sau and Abhijan Bhattacharyya and Madhurima Ganguly}, title={Teledrive: AMulti-masterHybrid Mobile Telerobotics System with FederatedAvatarControl}, proceedings={Mobile and Ubiquitous Systems: Computing, Networking and Services. 18th EAI International Conference, MobiQuitous 2021, Virtual Event, November 8-11, 2021, Proceedings}, proceedings_a={MOBIQUITOUS}, year={2022}, month={2}, keywords={Telepresence Cloud-robotics P2P WebRTC}, doi={10.1007/978-3-030-94822-1_6} }- Ashis Sau
Abhijan Bhattacharyya
Madhurima Ganguly
Year: 2022
Teledrive: AMulti-masterHybrid Mobile Telerobotics System with FederatedAvatarControl
MOBIQUITOUS
Springer
DOI: 10.1007/978-3-030-94822-1_6
Abstract
This paper addresses the issue of inherent delay in cloud-centric architecture a scenario where multiple remote human users join a tele-presence/tele-operation session with a robot such that any one of the users may take exclusive control of the robot and remotely maneuver it as the Avatar of the current Master. It presents a novel WebRTC based signaling protocol which allows a hybrid topology for the multi-user session. While the audio/video conferencing happens over cloud, each Master can create an on-demand peer-to-peer channel with the Avatar for the desired duration of maneuvering the Avatar. Thus, it allows low-latency delivery of command resulting in better experience for the end-user. The system is deployed in public cloud and is operational. The efficacy of the system is established through benchmarking against cloud-centric architecture in real-life field trials.
