Simulation Methods for Traffic Control and Position Estimation of Mobile Robots

In this paper we present a simulation approach in the field of landmark-based mobile robot navigation. A method is shown to involve statistical traffic analysis for determining critical positioning accuracy limits in certain points of the environment. We also describe an algorithm to evaluate spatial uncertainties assuming a navigation strategy. This strategy uses dead-reckoning frequently updated by absolute position measurements. We have implemented a simulation software to check the effectiveness of the new algorithms. The methods and simulation results are explained through simple examples

Sensing and Monitoring Methods in Telerobotical Applications Fusing Realtime Video Transmission and Calibrated

Abstract – In this paper we present a new approach of Internet-based teleoperation applying calibrated virtual reality. The limited technical performance of the Internet in terms of bandwidth, delay, jitter and reliability make necessary to introduce new methods to provide clients with applicable control environment through the network. We are focusing on the negative effects of limited bandwidth and present solution for a special class of telerobotic applications. Our approach to yield visual feedback at remote places is based on the combination of calibrated virtual reality and multi-resolution video streaming media. Utilizing the most a-priori information about the manipulation area is essential to reduce the amount of data to be transmitted. Our methods were proven effective during the evaluation of a teleoperated mobile micromanipulator workstation, which has been developed at the Budapest University of Technology and Economics. This system is capable of providing the human operator with real-time remote access to a microrobot through a web browser running on any Internet-connected computer. In this paper we present our results and introduce the mentioned telerobot system. A. Internet Telerobotic