Wireless HROV Control with Compressed Visual Feedback Using Acoustic and RF Links
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Otros documentos de la autoría: Centelles Beltran, Diego; Soriano Asensi, Antonio; Marin, Raul; Sanz, Pedro J
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comunitat-uji-handle2:10234/7036
comunitat-uji-handle3:10234/8620
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INVESTIGACIONMetadatos
Título
Wireless HROV Control with Compressed Visual Feedback Using Acoustic and RF LinksFecha de publicación
2020-03-11Editor
SpringerCita bibliográfica
Centelles, D., Soriano, A., Marin, R. et al. Wireless HROV Control with Compressed Visual Feedback Using Acoustic and RF Links. J Intell Robot Syst 99, 713–728 (2020). https://doi.org/10.1007/s10846-020-01157-5Tipo de documento
info:eu-repo/semantics/articleVersión de la editorial
https://link.springer.com/article/10.1007/s10846-020-01157-5Versión
info:eu-repo/semantics/publishedVersionPalabras clave / Materias
Resumen
Underwater cooperative robotics offers the possibility to perform challenging intervention applications, such as recovering archeological objects as within the context of the MERBOTS research project, or grasping, ... [+]
Underwater cooperative robotics offers the possibility to perform challenging intervention applications, such as recovering archeological objects as within the context of the MERBOTS research project, or grasping, transporting and assembly of big objects, using more than one mobile manipulator, as faced by the TWINBOT project. In order to enhance safety during the intervention, it is reasonable to avoid the umbilical, also giving more mobility to the robots, and enabling a broader set of cooperative movements. Several solutions, based on acoustic, radiofrequency (RF) or Visual Light Communication (VLC) have been proposed for underwater communications in the literature. This paper presents the architecture of an underwater wireless communication framework for the control of multiple semi-autonomous robots in cooperative interventions. The proposed framework is composed of several modules as the virtual reality interface using UWSim, the Underwater Multi-robot Cooperative Intervention Remote Control Protocol (UMCI-RCP) and a Generic Link Layer (GLL). UMCI-RCP allows the control of an underwater robot over limited communication links. UMCI-RCP integrates a progressive compression algorithm that provides visual feedback at a constant rate and ensures image reception even in channels with loses. The Time Division Multiple Access (TDMA) medium access strategy minimizes the jitter of transmitted packets. The GLL has been designed in order to provide support for multimodal transmission (i.e. acoustic, RF and VLC) and also to interface with the UWSim-NET simulator so that facilitates the experimentation either with a real or with a simulated modem. The possibility of exchange real and simulated devices in the proposed framework are demonstrated by means of a teleoperation experiment with a BlueROV equipped with the S100 RF modems. Hardware-In-the-Loop (HIL) capabilities are demonstrated repeating the experiment with the real modems and modeling the BlueROV, and also modeling both the modems and the BlueROV. [-]
Proyecto de investigación
Spanish Government (grants BES-2015-073112, DPI2014-57746-C3(MERBOTS), DPI2017-86372-C3 (TWINBOT), Generalitat Valenciana (Prometeo program) ; Jaume I University (NEPTUNO project)Derechos de acceso
© The Author(s) 2020
info:eu-repo/semantics/openAccess
info:eu-repo/semantics/openAccess
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