D. Schulz, W. Burgard, and A.B. Cremers
Robust Visualization of Navigation
Experiments with Mobile Robots over the Internet
Proc. of the IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS)
Abstract
Visualization is an important precondition for successful tele-operation
of instructable mobile robots. Data connections with varying and
limited bandwidth such as the Internet, however, prohibit the continuous
transmission of video signals. In this paper we propose a predictive
simulation technique which is designed to permit the reliable visualization
of the robot's actions over the Internet. It differs from previous
approaches in that it includes an odometry and sensor simulation.
This simulation of the robot allows the integration of a complete robot
control system to reliably predict complex actions of the robot even if
large transmission gaps of several seconds occur. We describe an
application of the predictive simulation technique to navigation experiments
with mobile robots. We present different experiments carried out
with a real robot illustrating that the predictive simulation technique
provides accurate visualizations of the robot's actions even if transmission
gaps of more than ten seconds occur.
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Bibtex
@InProceedings{Sch99Rob,
author = {Schulz, D. and Burgard, W. and
Cremers, A.B.},
title = {Robust Visualization of
Navigation Experiments with Mobile Robots over the Internet},
booktitle = IROS,
year = 1999
}