2024-03-29T05:16:08Zhttps://repositori.uji.es/oai/requestoai:repositori.uji.es:10234/390192022-11-28T14:43:08Zcom_10234_7036com_10234_9col_10234_8620
Repositori UJI
author
Wirz, Raúl
author
Marin, Raul
author
Claver, José M.
author
Ferre, Manuel
author
Aracil, Rafael
author
Fernández Fresneda, José Javier
2012-05-28T14:36:47Z
2012-05-28T14:36:47Z
2008
Robotics and Autonomous Systems, 56, 10, p. 865-874
9218890
http://hdl.handle.net/10234/39019
http://dx.doi.org/10.1016/j.robot.2008.06.005
There are many interesting aspects of Internet Telerobotics within the network robotics context, such as variable bandwidth and time-delays. Some of these aspects have been treated in the literature from the control point of view. Moreover, only a little work is related to the way Internet protocols can help to minimize the effect of delay and bandwidth fluctuation on network robotics. In this paper, we present the capabilities of TCP, UDP, TCP Las Vegas, TEAR, and Trinomial protocols, when performing a remote experiment within a network robotics application, the UJI Industrial Telelaboratory. Comparative analysis is presented through simulations within the NS2 platform. Results show how these protocols perform in two significant situations within the network robotics context, using heterogeneous wired networks: (1) an asymmetric network when controlling the system through a ADSL connection, and (2) a symmetric network using the system on Campus. Conclusions show a set of characteristics the authors of this paper consider very important when designing an End-to-End Congestion Control transport protocol for Internet Telerobotics. © 2008 Elsevier B.V. All rights reserved.
eng
E-learning
Industrial robotics telelaboratory
Internet congestion control protocol
Networked robots
Telerobotics
End-to-end congestion control protocols for remote programming of robots, using heterogeneous networks: A comparative analysis
info:eu-repo/semantics/article