A Multi-robot-Multi-operator Collaborative Virtual Environment

In this chapter, we describe the design of an object oriented and distributed architecture and the development of a modular networked system that allow us to have a multi-robot-multi-operator system. On that system, users can collaborate on different robotics applications (e.g. teleoperation, planning, off-line programming, mapping, etc) using robots of different types (e.g. manipulator arms, wheeled mobile robots, legged robots, etc). For this chapter, not only will be addressed the design details in the architecture but also implementation details in the system. Also, is presented an extensive literature and concepts about the multi-user robotics systems.

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