WebRTC-based MOSR remote control of mobile manipulators

Area of Science:

• Robotics
• Internet-based control systems
• Human-robot interaction

Background:

• Telerobotics enables remote operation of robotic systems.
• Existing platforms often face challenges with simultaneous multi-user control and latency.
• Efficient internet-based remote manipulation requires minimizing connection and interaction delays.

Purpose of the Study:

• To develop a web-based telerobotic platform for simultaneous multi-user remote robot control.
• To reduce task execution times by minimizing connection and interaction delays.
• To enable concurrent operation and collaboration among multiple users on a single robot.

Main Methods:

• Development of a web-based platform utilizing Web Real-Time Communication (WebRTC) technology.
• Implementation of a priority system for managing parallel tasks among multiple operators.
• Integration of a chat system for inter-operator communication.
• Validation using an emulator of the RobuTER/ULM mobile manipulator.

Main Results:

• Successful demonstration of a web-based platform enabling simultaneous remote control of a robot by multiple users.
• Reduced connection and interaction delays achieved through WebRTC.
• Effective management of parallel tasks and concurrent robot exploitation by multiple teams.
• Visualization of robot, surroundings, and sensor data for operators.

Conclusions:

• The WebRTC-based Multiple Operator Single Robot (MOSR) platform effectively supports concurrent telerobotic operations over the internet.
• The developed system addresses challenges in multi-user control and latency in remote manipulation.
• The platform facilitates collaborative task execution and enhances the efficiency of internet-based telerobotics.