A FLEXIBLE MULTI-ROBOT TELEOPERATION PROTOTYPE SYSTEM THROUGH NETWORK USING THE CLIENT/SERVER MODEL

摘要

A few studies have focused on SOMR (Single-Operator-Multi-Robot), MOSR (Multi-Operator-Single-Robot) and MOMR (Multi-Operator-Multi-Robot) tele-collaborative system through network with time delay and some systems have been established. But some problems, such as stability regardless of random time delay, task synchronization, operation transparency, human-computer interfacing, human-robot interaction and other questions associated with multi-robot coordination, etc, still remain open. This paper analyses the state of the art of network-based telerobotics, describes a client/server prototype system through network on PC platform which facilitates many operators simul- taneously cooperating a shared robot resource and focuses on the open architecture, flexibility, scalability and lower cost of the whole system. And then, from a compute-science perspective, we discuss the key techniques of designing a client/server system on the basis of the system implementation.