Dynamic Optimized Bandwidth Management for Teleoperation of Collaborative Robots

A real-time dynamic and optimized bandwidth management algorithm is proposed and used in teleoperated collaborative swarms of robots. This method is effective in complex teleoperation tasks, where several robots rather than one are utilized and where an extensive amount of exchanged information between operators and robots is inevitable. The importance of the proposed algorithm is that it accounts for Interest‐ ing Events (IEs) occurring in the system's environment and for the change in the Quality of Collaboration (QoC) of the swarm of robots in order to allocate communication bandwidth in an optimized manner. A general dynamic optimized bandwidth management system for teleoperation of collaborative robots is formulated in this paper. The suggested algorithm is evaluated against two static algorithms applied to a swarm of two humanoid robots. The results demonstrate the advantages of dynamic optimization algorithm in terms of task and network performance. The developed algorithm outperforms two static bandwidth management algorithms, against which it was tested, for all performance parameters in 80% of the performed trials. Accord‐ ingly, it was demonstrated that the proposed dynamic bandwidth optimization and allocation algorithm forms the basis of a framework for algorithms applied to realtime highly complex systems.

[1]  K. Madhava Krishna,et al.  Coordination in ambiguity: coordinated active localization for multiple robots , 2008, AAMAS.

[2]  Dmitry Berenson,et al.  From Autonomy to Cooperative Traded Control of Humanoid Manipulation Tasks with Unreliable Communication , 2016, J. Intell. Robotic Syst..

[3]  Suwatchai Kamonsantiroj,et al.  An auction-based dynamic bandwidth allocation with sensitivity in a wireless networked control system , 2009, Comput. Ind. Eng..

[4]  Guilherme Sousa Bastos,et al.  Dynamic Bandwidth Management Library for multi-robot systems , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[5]  Imad H. Elhajj,et al.  Event-based dynamic bandwidth management for teleoperation , 2011, 2011 IEEE International Conference on Robotics and Biomimetics.

[6]  Stergios I. Roumeliotis,et al.  Optimal sensor scheduling for resource-constrained localization of mobile robot formations , 2006, IEEE Transactions on Robotics.

[7]  Edward Tunstel,et al.  Planetary Rover Developments Supporting Mars Exploration, Sample Return and Future Human-Robotic Colonization , 2003, Auton. Robots.

[8]  Imad H. Elhajj,et al.  Task driven dynamic QoS based bandwidth allocation for real-time teleoperation via the Internet , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[9]  J M Thompson,et al.  Human factors in telesurgery: effects of time delay and asynchrony in video and control feedback with local manipulative assistance. , 1999, Telemedicine journal : the official journal of the American Telemedicine Association.

[10]  Hisayoshi Sugiyama,et al.  Integrated operations of multi-robot rescue system with ad hoc networking , 2009, 2009 1st International Conference on Wireless Communication, Vehicular Technology, Information Theory and Aerospace & Electronic Systems Technology.

[11]  Chenyang Lu,et al.  Control-Based Adaptive Middleware for Real-Time Image Transmission over Bandwidth-Constrained Networks , 2008, IEEE Transactions on Parallel and Distributed Systems.

[12]  Tianmiao Wang,et al.  Cooperative box-pushing with multiple autonomous robotic fish in underwater environment , 2011 .

[13]  Hideki Hashimoto,et al.  Development of single-master multislave telemicromanipulation system , 2004, 30th Annual Conference of IEEE Industrial Electronics Society, 2004. IECON 2004.

[14]  Upamanyu Madhow,et al.  Fair scheduling with tunable latency: a round-robin approach , 2003, TNET.

[15]  Imad H. Elhajj,et al.  Supermedia-enhanced Internet-based telerobotics , 2003, Proc. IEEE.

[16]  Christian Bettstetter,et al.  Collaboration in Multi-Robot Exploration: To Meet or not to Meet? , 2016, J. Intell. Robotic Syst..

[17]  Dongjun Lee,et al.  Semi-Autonomous Teleoperation of Multiple Cooperative Robots for Human-Robot Lunar Exploration , 2006, AAAI Spring Symposium: To Boldly Go Where No Human-Robot Team Has Gone Before.