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

Wirz, Raul and Marin, Raul and Claver, Jose M. and Ferre Pérez, Manuel and Aracil Santonja, Rafael and 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.

Description

Title: End-to-end congestion control protocols for remote programming of robots, using heterogeneous networks: A comparative analysis
Author/s:
  • Wirz, Raul
  • Marin, Raul
  • Claver, Jose M.
  • Ferre Pérez, Manuel
  • Aracil Santonja, Rafael
  • Fernández, Josep
Item Type: Article
Título de Revista/Publicación: Robotics and Autonomous Systems
Date: October 2008
ISSN: 0921-8890
Volume: 56
Subjects:
Freetext Keywords: Networked robots; internet congestion control protocol; telerobotics; E-learning; industrial robotics telelaboratory
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

Full text

[img]
Preview
PDF - Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (1MB) | Preview

Abstract

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.

More information

Item ID: 2441
DC Identifier: http://oa.upm.es/2441/
OAI Identifier: oai:oa.upm.es:2441
DOI: 10.1016/j.robot.2008.06.005
Official URL: http://www.sciencedirect.com/science/journal/09218890
Deposited by: Memoria Investigacion
Deposited on: 05 Mar 2010 12:43
Last Modified: 22 Feb 2017 17:53
  • Logo InvestigaM (UPM)
  • Logo GEOUP4
  • Logo Open Access
  • Open Access
  • Logo Sherpa/Romeo
    Check whether the anglo-saxon journal in which you have published an article allows you to also publish it under open access.
  • Logo Dulcinea
    Check whether the spanish journal in which you have published an article allows you to also publish it under open access.
  • Logo de Recolecta
  • Logo del Observatorio I+D+i UPM
  • Logo de OpenCourseWare UPM