Collaborative teleoperation using networked spatial dynamic voting

Goldberg, Ken; Song, Dezhen; Levandowski, Anthony

doi:10.1109/jproc.2003.809209

Cited by 43 publications

(20 citation statements)

References 44 publications

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“…Users point to cleanup locations in a shared image and a robot excavates each location in turn. Recent developments in MOSR systems can be found in (Goldberg and Chen 2001;Goldberg et al 2003). In propose the "Spatial Dynamic Voting" (SDV) interface.…”

Section: Related Workmentioning

confidence: 99%

Systems, control models, and codec for collaborative observation of remote environments with an autonomous networked robotic camera

2008

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Networked robotic cameras are becoming popular in remote observation applications such as natural observation, surveillance, and distance learning. Equipped with a high optical zoom lens and agile pan-tilt mechanisms, a networked robotic camera can cover a large region with various resolutions. The optimal selection of camera control parameters for competing observation requests and the ondemand delivery of video content for various spatiotemporal queries are two challenges in the design of such autonomous systems. For camera control, we introduce memoryless and temporal frame selection models that effectively enable collaborative control of the camera based on the competing inputs from in-situ sensors and users. For content delivery, we design a patch-based motion panorama representation and coding/decoding algorithms (codec) to allow efficient storage and computation. We present system architecture, frame selection models, user interface, and codec algorithms. We have implemented the system and extensively tested our design in real world applications including natural observation, public surveillance, distance learning, and building construction monitoring. Experiment results show that our frame selection models are robust and effective and our ondemand content delivery codec can satisfy a variety of spatiotemporal queries efficiently in terms of computation time communications bandwidth.

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Section: Related Workmentioning

confidence: 99%

Systems, control models, and codec for collaborative observation of remote environments with an autonomous networked robotic camera

2008

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“…In [4,5] we propose the "Spatial Dynamic Voting" (SDV) interface. The SDV collects, displays, and analyzes sets of spatial votes from multiple online operators using a Gaussian point clustering algorithm developed to guide the motion of a remote human "Tele-Actor".…”

Section: Related Workmentioning

confidence: 99%

Algorithms and systems for shared access to a robotic streaming video camera

Song¹

2003

Proceedings of the Eleventh ACM International Conference on Multimedia - MULTIMEDIA '03

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“…Telerobot systems are being widely used in various cases in scientific research and peoples' life, such as rescue robot under unknown environment [1][2], rehabilitation robot in the healthcare field [3][4] and a networked telerobot system that allows groups of participants to collaboratively observe live remote environments [5]. To improve the human operator's ability to perform complex task, the interactive force between remote slave manipulator and task environment is often fed back to the local human operator.…”

Section: Introductionmentioning

confidence: 99%

Operation Modes and Control Schemes for a Telerobot with Time Delay

Xiong

Song

Qian

et al. 2012

International Journal of Advanced Robotic Systems

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Telerobot system plays an important role in executing task under hazard environment. As the computer networks such as the Internet are being used as the communication channel of telerobot systems, varying time delay causes the overall system unstable and reduces the performance of transparency. In this paper, we propose twelve operation modes with different control schemes for telerobot on the Internet with time delay. And an optimal operation mode with control scheme is specified for telerobot with time delay, based on the tradeoff between passivity and transparency properties. We experimentally confirm the validity of the proposed optimal mode and control scheme by using a simple one DOF master-slave manipulator system.

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Collaborative teleoperation using networked spatial dynamic voting

Cited by 43 publications

References 44 publications

Systems, control models, and codec for collaborative observation of remote environments with an autonomous networked robotic camera

Systems, control models, and codec for collaborative observation of remote environments with an autonomous networked robotic camera

Algorithms and systems for shared access to a robotic streaming video camera

Operation Modes and Control Schemes for a Telerobot with Time Delay

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