Authors V.P. Andreev, K.B. Kirsanov
Month, Year 10, 2015 @en
Index UDC 004.771
Abstract We present the results of studies on the creation of hardware and software system ensuring a full-featured geographically distributed supervisory control over a group of robotic systems (including mobile robots) via the Internet. The term "multioperator" means that the robotic devices involved in the group can be controlled simultaneously by several operators that are located at spatially remote places. The term "full-featured control" means that the operator panel can be used to control all permitted operations of robotic systems via the Internet. This functionality is provided the following features of the hardware and software system developed by us: (a) the network structure of the system is controlled in a decentralized way and can be automatically reconfigured online; (b) the control structure can involve robotic systems of different models and manufacturers without rewriting their low-level program codes; (c) all computing devices (including onboard computers of mobile robots and microprocessors) can be remotely (via the Internet) and dynamically reprogrammed; (d) protection from unauthorized access; (e) the operator can visually monitor the execution of commands remotely (via the Internet) and in real time (with a minimum delay); and (f) resistance to communication breaks. We used a network-based hierarchical structure of control of the group of robotic systems and mechatronic devices by combining their information measuring and control systems into a local area network with mobile nodes. We describe the technical implementation of the pilot project of the hardware and software system using the case of an operating Internet-laboratory that provides full-featured control of AMUR (IL “Sensorika”) and Robotino (Festo) educational robots located in the "robotariums" of the Moscow State Technological University "STANKIN" and the Center for Technological Support of Education of the International Institute of New Educational Technologies (CTSE IINET) at the Russian State University for the Humanities (RSUH). A similar communication channel also exists between the Keldysh Institute of Applied Mathematics, Russian Academy of Sciences (Moscow), CTSE IINET RSUH, and the Far East Federal University (Vladivostok).

Download PDF

Keywords Spatially-distributed control; supervisory control; group control; Information measuring and control system; network technologies; local area network; robotic system; mobile robot; mechatronic device.
References 1. Emmerich W., Aoyama M., Sventek J. The impact of research on the development of middle-ware technology, ACM Transactions on Software Engineering and Methodology. N. Y.: ACM, 2008, Vol. 17, No. 4, pp. 19-48.
2. Liangzhao Z., Benatallah B., Anne HH Ngu, Dumas M., Kalagnanam J., and Chang H. Qosaware middleware for web services composition, Software Engineering, IEEE Transactions on 30, 2004, No. 5, pp. 311-327.
3. ROS. Available at: (дата обращения: 17.09.2015).
4. Microsoft Robotics Developer Studio 4. URL:
us/download/details.aspx?id=29081 (accessed 17 September 2015).
5. Gerkey B., Vaughan R., and Howard A. The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems, Proceedings of the International Conference on Advanced Robotics, 2003, pp. 317-323.
6. Baillie, Jean-Christophe. URBI: Towards a universal robotic low-level programming language, In Intelligent Robots and Systems, 2005 (IROS 2005). 2005 IEEE/RSJ International Conference on, IEEE, 2005, pp. 820-825.
7. Xiaohong Q., Geoffrey C. Fox, Huapeng Yuan, Seung-Hee Bae, George Chrysanthakopoulos, and Henrik Frystyk Nielsen. High performance multi-paradigm messaging runtime integrating grids and multicore systems, In e-Science and Grid Computing, IEEE International Conference on, IEEE, 2007, pp. 407-414.
8. Niemeyer, G., Slotine J-J.E. Telemanipulation with time delays, Int. Journal of Robotics Research, September 2004, No. 23 (9), pp. 873-890.
9. Artigas J., Jee-Hwan R., Preusche C. and Hirzinger G. Network representation and passivity of delayed teleoperation systems, Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on 25-30 Sept., 2011, pp. 177-183.
10. Pryanichnikov V., Andreev V. The Application of Network Technologies to Constructing Group Controlled Systems with Machine Vision for Mobile Robots, Annals of DAAAM for 2012& Proceedings of the 23th International DAAAM Symposium, 24-27th October 2012 Zadar, Croatia, ISSN 2304-1382, 2012, Vol. 23, No. 1, pp.1167-1174.
11. Andreev V.P., Kirsanov K.B., Pletenev P.F., Poduraev Yu.V., Pryanichnikov V.E., Prysev E.A. Technology Supervisory Control for Mechatronic Devices via the Internet, 25th DAAAM International Symposium on Intelligent Manufacturing and Automation, DAAM 2014. Procedia Engineering, 2015, Vol. 100, pp. 33-40.
12. Andreev V., Pryanichnikov V., Poduraev Y., Kuvshinov S. Education on the basis of virtual learning robotics laboratory and group-controlled robots, 24th DAAAM International Symposium on Intelligent Manufacturing and Automation, DAAM 2013. Procedia Engineering, 2014, Vol. 69, pp. 3 5-40.
13. Carl H., Bishop P., Steiger R. A universal modular actor formalism for artificial intelligence, In Proceedings of the 3rd international joint conference on Artificial intelligence. Morgan Kaufmann Publishers Inc., 1973, pp. 235-245.
14. Hintjens Pieter. ZeroMQ, Messaging for Many Applications, O'Reilly Media, Inc., 2013.
15. Kirsanov K. The Architecture of Robotics Control Software for Heterogeneous Mobile Robots Network, 24th DAAAM International Symposium on Intelligent Manufacturing and Automation, DAAM 2013. Procedia Engineering, 2014, Vol. 69, pp. 216-221.
16. Fernando Pйrez, Brian E. Granger. IPython: A System for Interactive Scientific Computing, Computing in Science and Engineering, May/June 2007, Vol. 9, No. 3, pp. 21-29.
17. ШMQ Licensing. URL: (дата обращения: 17.09.2015).
18. GNU lesser general public license. Version 3, 29 June 2007. Available
at: (accessed 17 September 2015).
19. Katalinich B., Pryanichnikov V.E., Tsezarik P., Kettler R. Stsenarii i programmy bionicheskikh sborochnykh sistem, modeliruemykh s ispol'zovaniem robotov «AMUR» [Scripts and programs bionic Assembly systems that are modeled with the use of robots "AMUR"], Informatsionno-izmeritel'nye i upravlyayushchie sistemy [Information-measuring and Control Systems], 2013, Vol. 11, No. 4, pp. 34-43.
20. Katalinic B., Kukushkin I., & Haskovic D. Bionic Assembly System Cloud: Functions, Information Flow and Behavior, In 9th International Conference of DAAAM Baltic, Industrial Engineering, 2014, pp. 103-108.

Comments are closed.