End-to-end congestion control protocols for remote programming of robots, using heterogeneous networks: A comparative analysis

Wirz, Raul; Marin, Raul; Claver, Jose M.; Ferre Pérez, Manuel; Aracil Santonja, Rafael y Fernández, Josep (2008). End-to-end congestion control protocols for remote programming of robots, using heterogeneous networks: A comparative analysis. "Robotics and Autonomous Systems", v. 56 (n. 10); pp. 865-874. ISSN 0921-8890. https://doi.org/10.1016/j.robot.2008.06.005.

Descripción

Título: End-to-end congestion control protocols for remote programming of robots, using heterogeneous networks: A comparative analysis
Autor/es:
  • Wirz, Raul
  • Marin, Raul
  • Claver, Jose M.
  • Ferre Pérez, Manuel
  • Aracil Santonja, Rafael
  • Fernández, Josep
Tipo de Documento: Artículo
Título de Revista/Publicación: Robotics and Autonomous Systems
Fecha: Octubre 2008
Volumen: 56
Materias:
Palabras Clave Informales: Networked robots; internet congestion control protocol; telerobotics; E-learning; industrial robotics telelaboratory
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

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.

Más información

ID de Registro: 2441
Identificador DC: http://oa.upm.es/2441/
Identificador OAI: oai:oa.upm.es:2441
Identificador DOI: 10.1016/j.robot.2008.06.005
URL Oficial: http://www.sciencedirect.com/science/journal/09218890
Depositado por: Memoria Investigacion
Depositado el: 05 Mar 2010 12:43
Ultima Modificación: 22 Feb 2017 17:53
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