Paper Info
Title
Task driven dynamic QoS based bandwidth allocation for real-time teleoperation via the Internet
Abstract
In real-time Internet based teleoperation, different robotic tasks have different dexterity requirements during task progress and thus different network resources are required for safe and reliable task accomplishment. In order to control remote manipulators efficiently and smoothly via the Internet, dynamic bandwidth allocation is crucial to successful accomplishment of robotic tasks controlled by remote operator. In this paper, a novel bandwidth allocation mechanism is developed based on the online measured task dexterity index of current dexterous tasks so that operators can control remote manipulators efficiently and smoothly even under poor network quality. Experiments have been conducted to demonstrate the effectiveness of the presented resource (bandwidth) allocation algorithm in Internet based teleoperation system.
Year
DOI
Venue
2003
10.1109/IROS.2003.1248790
IROS
Keywords
DocType
Volume
real-time teleoperation,manipulator dynamics,robotic tasks,quality of service,dexterity requirements,dexterous manipulators,bandwidth allocation,qos,internet,resource allocation algorithm,task dexterity index,teleoperation system,remote manipulators,telerobotics,network resources,real-time systems,bandwidth allocation mechanism,real time,real time systems,dynamic bandwidth allocation
Conference
2
ISBN
Citations 
PageRank 
0-7803-7860-1
12
0.77
References 
Authors
2
7
Name
Order
Citations
PageRank
Wai-keung Fung19215.24
Ning Xi21422228.89
Wang Tai Lo3262.97
Booheon Song4171.57
Sun Y5120.77
Liu YH61540185.05
Imad H. Elhajj731053.65