W. Burgard, and D. Schulz
Robust Visualization for Web-based
Control of Mobile Robots
Robots on the Web: Physical Interaction through the
Internet
Abstract
The World Wide Web provides a unique opportunity to connect robots to the
Internet. Easy to use Web interfaces enable people all over the world to
control mobile robots and to monitor their operation from the distance.
Additionally, connecting a robot to the Internet offers distributed research
groups the opportunity to perform joint experiments. In this context
visualizing the robot's actions plays a key role. In this paper we
present different techniques designed to provide robust visualizations
of Web-controlled mobile robots in dynamic environments. These techniques
address two major drawbacks of the Internet, the limited bandwidth and
the unreliability of connections resulting in packet loss. Our technique
uses a 3D-model of the environment and visualizes the robot´s actions
using this model. It employs predictive simulation to bridge transmission
gaps and applies probabilistic techniques to estimate the state of dynamic
objects which influence the behavior of the robot. This way accurate
visualizations of the actions of a mobile robot and of relevant aspects
of its environment can be achieved.
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Bibtex
@INCOLLECTION{Sch00Rob,
AUTHOR = {Burgard, W. and Schulz, D.},
TITLE = {Robust Visualization for
Web-based Control of Mobile Robots},
EDITOR = {Goldberg, K. and Siegwart, R.},
booktitle = {Robots on the Web: Physical Interaction through
the Internet},
publisher = {MIT-Press},
note = {To appear}
}