Abstract
This paper addresses the issue of inherent delay in cloud-centric architecture a scenario where multiple remote human users join a tele-presence/tele-operation session with a robot such that any one of the users may take exclusive control of the robot and remotely maneuver it as the Avatar of the current Master. It presents a novel WebRTC based signaling protocol which allows a hybrid topology for the multi-user session. While the audio/video conferencing happens over cloud, each Master can create an on-demand peer-to-peer channel with the Avatar for the desired duration of maneuvering the Avatar. Thus, it allows low-latency delivery of command resulting in better experience for the end-user. The system is deployed in public cloud and is operational. The efficacy of the system is established through benchmarking against cloud-centric architecture in real-life field trials.
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Sau, A., Bhattacharyya, A., Ganguly, M. (2022). Teledrive: A Multi-master Hybrid Mobile Telerobotics System with Federated Avatar Control. In: Hara, T., Yamaguchi, H. (eds) Mobile and Ubiquitous Systems: Computing, Networking and Services. MobiQuitous 2021. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 419. Springer, Cham. https://doi.org/10.1007/978-3-030-94822-1_6
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DOI: https://doi.org/10.1007/978-3-030-94822-1_6
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