Abstract
In this paper the authors deal with the problem of variable channel delays in a tele-robotics context. Considering the effect of time-varying network delays, a novel self-triggered strategy has been designed to adjust the triggering condition to the observed tracking error. This adaptive self-triggered approach has been implemented on the trajectory tracking of two P3-DX mobile robots remotely controlled through the widespread WLAN IEEE 802.11g standard. Taking into account the maximum channel delay, results show that this solution achieves a good tracking performance with a high reduction of the network occupancy.
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Video (July 2013), http://www.geintra-uah.org/idi/demostraciones/demostraciones#remote-self-triggered
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Santos, C., Mazo, M., Santiso, E., Espinosa, F., Martínez, M. (2014). Adaptive Self-triggered Control for Remote Operation of Wifi Linked Robots. In: Armada, M., Sanfeliu, A., Ferre, M. (eds) ROBOT2013: First Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 253. Springer, Cham. https://doi.org/10.1007/978-3-319-03653-3_39
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DOI: https://doi.org/10.1007/978-3-319-03653-3_39
Publisher Name: Springer, Cham
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