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Event-based Estimation and Control for Remote Robot Operation with Reduced Communication

2015

Conference Paper

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An event-based communication framework for remote operation of a robot via a bandwidth-limited network is proposed. The robot sends state and environment estimation data to the operator, and the operator transmits updated control commands or policies to the robot. Event-based communication protocols are designed to ensure that data is transmitted only when required: the robot sends new estimation data only if this yields a significant information gain at the operator, and the operator transmits an updated control policy only if this comes with a significant improvement in control performance. The developed framework is modular and can be used with any standard estimation and control algorithms. Simulation results of a robotic arm highlight its potential for an efficient use of limited communication resources, for example, in disaster response scenarios such as the DARPA Robotics Challenge.

Author(s): Sebastian Trimpe and Jonas Buchli
Book Title: Proceedings of the IEEE International Conference on Robotics and Automation
Year: 2015
Month: May

Department(s): Autonomous Motion
Research Project(s): Networked Control and Communication
Bibtex Type: Conference Paper (inproceedings)
Paper Type: Conference

Cross Ref: p10615
DOI: 10.1109/ICRA.2015.7139897
State: Published
Attachments: PDF

BibTex

@inproceedings{trimpeICRA15,
  title = {Event-based Estimation and Control for Remote Robot Operation with Reduced Communication},
  author = {Trimpe, Sebastian and Buchli, Jonas},
  booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
  month = may,
  year = {2015},
  crossref = {p10615},
  month_numeric = {5}
}