Application of a multi-user distributed virtual environment framework to mobile robot teleoperation over the Internet

This paper presents a framework for multi-user distributed virtual environments (VEs) and explores its application to teleoperation of a mobile robot over the Internet. The proposed framework, incorporating the functional and the interconnection models, attempts to represent common functionality, communication issues, and requirements found in distributed multi-user VEs. A distributed virtual environment for mobile robot teleoperation has been implemented based on distributed simulation and virtual reality standards and used for measurements in the laboratory testbed. It has been demonstrated that user behavior and interactions need be taken into account when specifying networking requirements for distributed VEs.

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