Internet Based Teleoperation for Cooperative Navigation and Manipulation

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PETROVIĆ, Ivan ;KOLONIĆ, Fetah ;KORONDI, Peter .
Internet Based Teleoperation for Cooperative Navigation and Manipulation. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 55, n.6, p. 356-368, august 2017. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/article/internet-based-teleoperation-for-cooperative-navigation-and-manipulation/>. Date accessed: 29 sep. 2021. 
doi:http://dx.doi.org/.
Petrović, I., Kolonić, F., & Korondi, P.
(2009).
Internet Based Teleoperation for Cooperative Navigation and Manipulation.
Strojniški vestnik - Journal of Mechanical Engineering, 55(6), 356-368.
doi:http://dx.doi.org/
@article{.,
	author = {Ivan  Petrović and Fetah  Kolonić and Peter  Korondi},
	title = {Internet Based Teleoperation for Cooperative Navigation and Manipulation},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {55},
	number = {6},
	year = {2009},
	keywords = {internet; teleoperation; cooperative navigation; manipulation; },
	abstract = {The Internet is a very fast evolving new technology, allowing people to electronically connect to places that are thousands of miles apart. By combining network technologies with the capabilities of mobile robots and manipulators, Internet users can discover and physically interact with far-away places thereby, creating opportunities of resource sharing, remote experimentation and long-distance learning. This paper presents a general concept of Internet based teleoperation, which structures a teleoperation system into three layers. The concept was applied in developing a teleoperation system that enables two human operators to safely control two cooperative mobile robots in unknown and dynamic environments from any two PCs connected to the Internet by installing a developed client program on them and by using simple force feedback joysticks. On graphical user interfaces, the operators receive images forwarded by the cameras mounted on robots, and on the joysticks they can feel forces forwarded by developed obstacle prevention algorithm based on the dynamic window approach. To overcome the instability caused by the unknown and varying time delay an event-based teleoperation method is employed to synchronize actions of each robot with commands from its operator. Through experimental investigation it is confirmed that developed teleoperation system enables the operators to successfully accomplish cooperative navigation and manipulation tasks in complex environments.},
	issn = {0039-2480},	pages = {356-368},	doi = {},
	url = {https://www.sv-jme.eu/article/internet-based-teleoperation-for-cooperative-navigation-and-manipulation/}
}
Petrović, I.,Kolonić, F.,Korondi, P.
2009 August 55. Internet Based Teleoperation for Cooperative Navigation and Manipulation. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 55:6
%A Petrović, Ivan 
%A Kolonić, Fetah 
%A Korondi, Peter 
%D 2009
%T Internet Based Teleoperation for Cooperative Navigation and Manipulation
%B 2009
%9 internet; teleoperation; cooperative navigation; manipulation; 
%! Internet Based Teleoperation for Cooperative Navigation and Manipulation
%K internet; teleoperation; cooperative navigation; manipulation; 
%X The Internet is a very fast evolving new technology, allowing people to electronically connect to places that are thousands of miles apart. By combining network technologies with the capabilities of mobile robots and manipulators, Internet users can discover and physically interact with far-away places thereby, creating opportunities of resource sharing, remote experimentation and long-distance learning. This paper presents a general concept of Internet based teleoperation, which structures a teleoperation system into three layers. The concept was applied in developing a teleoperation system that enables two human operators to safely control two cooperative mobile robots in unknown and dynamic environments from any two PCs connected to the Internet by installing a developed client program on them and by using simple force feedback joysticks. On graphical user interfaces, the operators receive images forwarded by the cameras mounted on robots, and on the joysticks they can feel forces forwarded by developed obstacle prevention algorithm based on the dynamic window approach. To overcome the instability caused by the unknown and varying time delay an event-based teleoperation method is employed to synchronize actions of each robot with commands from its operator. Through experimental investigation it is confirmed that developed teleoperation system enables the operators to successfully accomplish cooperative navigation and manipulation tasks in complex environments.
%U https://www.sv-jme.eu/article/internet-based-teleoperation-for-cooperative-navigation-and-manipulation/
%0 Journal Article
%R 
%& 356
%P 13
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 55
%N 6
%@ 0039-2480
%8 2017-08-21
%7 2017-08-21
Petrović, Ivan, Fetah  Kolonić, & Peter  Korondi.
"Internet Based Teleoperation for Cooperative Navigation and Manipulation." Strojniški vestnik - Journal of Mechanical Engineering [Online], 55.6 (2009): 356-368. Web.  29 Sep. 2021
TY  - JOUR
AU  - Petrović, Ivan 
AU  - Kolonić, Fetah 
AU  - Korondi, Peter 
PY  - 2009
TI  - Internet Based Teleoperation for Cooperative Navigation and Manipulation
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 
KW  - internet; teleoperation; cooperative navigation; manipulation; 
N2  - The Internet is a very fast evolving new technology, allowing people to electronically connect to places that are thousands of miles apart. By combining network technologies with the capabilities of mobile robots and manipulators, Internet users can discover and physically interact with far-away places thereby, creating opportunities of resource sharing, remote experimentation and long-distance learning. This paper presents a general concept of Internet based teleoperation, which structures a teleoperation system into three layers. The concept was applied in developing a teleoperation system that enables two human operators to safely control two cooperative mobile robots in unknown and dynamic environments from any two PCs connected to the Internet by installing a developed client program on them and by using simple force feedback joysticks. On graphical user interfaces, the operators receive images forwarded by the cameras mounted on robots, and on the joysticks they can feel forces forwarded by developed obstacle prevention algorithm based on the dynamic window approach. To overcome the instability caused by the unknown and varying time delay an event-based teleoperation method is employed to synchronize actions of each robot with commands from its operator. Through experimental investigation it is confirmed that developed teleoperation system enables the operators to successfully accomplish cooperative navigation and manipulation tasks in complex environments.
UR  - https://www.sv-jme.eu/article/internet-based-teleoperation-for-cooperative-navigation-and-manipulation/
@article{{}{.},
	author = {Petrović, I., Kolonić, F., Korondi, P.},
	title = {Internet Based Teleoperation for Cooperative Navigation and Manipulation},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {55},
	number = {6},
	year = {2009},
	doi = {},
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TY  - JOUR
AU  - Petrović, Ivan 
AU  - Kolonić, Fetah 
AU  - Korondi, Peter 
PY  - 2017/08/21
TI  - Internet Based Teleoperation for Cooperative Navigation and Manipulation
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 55, No 6 (2009): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 
KW  - internet, teleoperation, cooperative navigation, manipulation, 
N2  - The Internet is a very fast evolving new technology, allowing people to electronically connect to places that are thousands of miles apart. By combining network technologies with the capabilities of mobile robots and manipulators, Internet users can discover and physically interact with far-away places thereby, creating opportunities of resource sharing, remote experimentation and long-distance learning. This paper presents a general concept of Internet based teleoperation, which structures a teleoperation system into three layers. The concept was applied in developing a teleoperation system that enables two human operators to safely control two cooperative mobile robots in unknown and dynamic environments from any two PCs connected to the Internet by installing a developed client program on them and by using simple force feedback joysticks. On graphical user interfaces, the operators receive images forwarded by the cameras mounted on robots, and on the joysticks they can feel forces forwarded by developed obstacle prevention algorithm based on the dynamic window approach. To overcome the instability caused by the unknown and varying time delay an event-based teleoperation method is employed to synchronize actions of each robot with commands from its operator. Through experimental investigation it is confirmed that developed teleoperation system enables the operators to successfully accomplish cooperative navigation and manipulation tasks in complex environments.
UR  - https://www.sv-jme.eu/article/internet-based-teleoperation-for-cooperative-navigation-and-manipulation/
Petrović, Ivan, Kolonić, Fetah, AND Korondi, Peter.
"Internet Based Teleoperation for Cooperative Navigation and Manipulation" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 55 Number 6 (21 August 2017)

Authors

Affiliations

  • University of Zagreb, Faculty of Electrical Engineering and Computing, Croatia
  • University of Zagreb, Faculty of Electrical Engineering and Computing, Croatia
  • Budapest University of Technology and Economics, Department of Automation and Applied Informatics, Hungary

Paper's information

Strojniški vestnik - Journal of Mechanical Engineering 55(2009)6, 356-368

The Internet is a very fast evolving new technology, allowing people to electronically connect to places that are thousands of miles apart. By combining network technologies with the capabilities of mobile robots and manipulators, Internet users can discover and physically interact with far-away places thereby, creating opportunities of resource sharing, remote experimentation and long-distance learning. This paper presents a general concept of Internet based teleoperation, which structures a teleoperation system into three layers. The concept was applied in developing a teleoperation system that enables two human operators to safely control two cooperative mobile robots in unknown and dynamic environments from any two PCs connected to the Internet by installing a developed client program on them and by using simple force feedback joysticks. On graphical user interfaces, the operators receive images forwarded by the cameras mounted on robots, and on the joysticks they can feel forces forwarded by developed obstacle prevention algorithm based on the dynamic window approach. To overcome the instability caused by the unknown and varying time delay an event-based teleoperation method is employed to synchronize actions of each robot with commands from its operator. Through experimental investigation it is confirmed that developed teleoperation system enables the operators to successfully accomplish cooperative navigation and manipulation tasks in complex environments.

internet; teleoperation; cooperative navigation; manipulation;