END-TO-END CONGESTION CONTROL PROTOCOLS FOR INTERNET TELEROBOTICS

摘要

Internet Telerobotics presents many interesting aspects within the context of master/slave teleoperation like variable bandwidth and time-delays Some of these aspects have been treated in the literature from the control point of view. However, only a few works are related to the way internet protocols can help to minimize the effect of delay and bandwidth fluctuation on teleoperation. In this paper we present the capabilities of TCP, UDP, TCP Las Vegas, TEAR, and Trinomial protocols when performing an Internet teleoperation. The comparative analysis is presented through simulations within the NS2 platform. Conclusions present a set of requirements that are necessary in order to define the SNRTP protocol (Simple Network Robot Transport Protocol), which is specifically being designed for Internet teleoperation The SNRTP protocol tries to minimize the end-to-end time-delay by using as much bandwidth and possible (eg asymmetric networks), and maintaining the TCP-Friendly criteria. Moreover, the SNRTP is being designed to be fully integrated with the HTTP-based robotics application protocol SNRP (Simple Network Robot Protocol), which have been described in detail in previous works.