Article

Article title TECHNOLOGY OF MULTIOPERATOR MOBILE ROBOT CONTROL VIA THE INTERNET
Authors V.P. Andreev, K.B. Kirsanov
Section SECTION I. GROUP CONTROL ROBOTS
Month, Year 10, 2015 @en
Index UDC 004.771
DOI
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).

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Keywords Spatially-distributed control; supervisory control; group control; Information measuring and control system; network technologies; local area network; robotic system; mobile robot; mechatronic device.
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