Since there still is a lack of autonomous solutions in the S&R field, in the NBC one and more in general when a manipulation of dangerous substances is requested, technical solutions are mainly approaching these problems with teleoperation. This paper describes a particular specific system control architecture suitable for remotely operated platforms for S&R, IED-EOD and NBC applications. The proposed architecture is described, a realized prototype is presented and on field results gathered in real applications, validating the solution, are discussed.

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