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Publication Details

Reference TypeConference Proceedings
Author(s)Trimpe, S. and Buchli, J.
TitleEvent-based Estimation and Control for Remote Robot Operation with Reduced Communication
Journal/Conference/Book TitleProceedings of the IEEE International Conference on Robotics and Automation
KeywordsEvent-based estimation, event-based control, human-robot coordination, reduced communication
AbstractAn 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.
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