Effects of a Delay Compensation Aid on Teleoperation of Unmanned Ground Vehicles

Lu, Shihan; Zhang, Meng Yuan; Ersal, Tulga; Yang, X. Jessie

doi:10.1145/3173386.3177064

Cited by 3 publications

(3 citation statements)

References 7 publications

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“…Predictive methods have been shown to be well suited for delay compensation on both the downlink and uplink of teleoperation [ 70 , 113 ]. In the realm of predictive methods, passivity-based and predictive display-based methods have been most commonly used.…”

Section: Latency Mitigation Strategiesmentioning

confidence: 99%

“…Other control approaches aim to minimise delay, including supervisor control, control autonomy augmented reality [ 113 ], and adaptive-based control [ 70 , 113 ]. Approaches such as supervisor control involve the operator sending high-level commands, minimising communication requirements and delay, where the remote robot or vehicle needs planning and control algorithms.…”

Section: Latency Mitigation Strategiesmentioning

confidence: 99%

See 1 more Smart Citation

Network Latency in Teleoperation of Connected and Autonomous Vehicles: A Review of Trends, Challenges, and Mitigation Strategies

Kamtam,

Lu,

Bouali

et al. 2024

Sensors

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With remarkable advancements in the development of connected and autonomous vehicles (CAVs), the integration of teleoperation has become crucial for improving safety and operational efficiency. However, teleoperation faces substantial challenges, with network latency being a critical factor influencing its performance. This survey paper explores the impact of network latency along with state-of-the-art mitigation/compensation approaches. It examines cascading effects on teleoperation communication links (i.e., uplink and downlink) and how delays in data transmission affect the real-time perception and decision-making of operators. By elucidating the challenges and available mitigation strategies, the paper offers valuable insights for researchers, engineers, and practitioners working towards the seamless integration of teleoperation in the evolving landscape of CAVs.

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Section: Latency Mitigation Strategiesmentioning

confidence: 99%

Section: Latency Mitigation Strategiesmentioning

confidence: 99%

Network Latency in Teleoperation of Connected and Autonomous Vehicles: A Review of Trends, Challenges, and Mitigation Strategies

Kamtam,

Lu,

Bouali

et al. 2024

Sensors

View full text Add to dashboard Cite

show abstract

“…This problem will become more pronounced if the convoy is being teleoperated from a remote base. Therefore, there is a need for delay prediction/compensation algorithms for control of these autonomous convoys in the field ( Lu et al, 2018 ).…”

Section: Manned Convoy Requirementsmentioning

confidence: 99%

Delivery of Healthcare Resources Using Autonomous Ground Vehicle Convoy Systems: An Overview

et al. 2021

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Utilizing military convoys in humanitarian missions allows for increased overall performance of healthcare logistical operations. To properly gauge performance of autonomous ground convoy systems in military humanitarian operations, a proper framework for comparative performance metrics needs to be established. Past efforts in this domain have had heavy focus on narrow and specialized areas of convoy performance such as human factors, trust metrics, or string stability analysis. This article reviews available Army doctrine for manned convoy requirements toward healthcare missions and establishes a framework to compare performance of autonomous convoys, using metrics such as spacing error, separation distance, and string stability. After developing a framework of comparison for the convoy systems, this article compares the performance of two autonomous convoys with unique convoy control strategies to demonstrate the application and utility of the framework.

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High Latency Unmanned Ground Vehicle Teleoperation Enhancement by Presentation of Estimated Future through Video Transformation

Moniruzzaman

Rassau

Chai

et al. 2022

J Intell Robot Syst

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Long-distance, high latency teleoperation tasks are difficult, highly stressful for teleoperators, and prone to over-corrections, which can lead to loss of control. At higher latencies, or when teleoperating at higher vehicle speed, the situation becomes progressively worse. To explore potential solutions, this research work investigates two 2D visual feedback-based assistive interfaces (sliding-only and sliding-and-zooming windows) that apply simple but effective video transformations to enhance teleoperation. A teleoperation simulator that can replicate teleoperation scenarios affected by high and adjustable latency has been developed to explore the effectiveness of the proposed assistive interfaces. Three image comparison metrics have been used to fine-tune and optimise the proposed interfaces. An operator survey was conducted to evaluate and compare performance with and without the assistance. The survey has shown that a 900ms latency increases task completion time by up to 205% for an on-road and 147% for an off-road driving track. Further, the overcorrection-induced oscillations increase by up to 718% with this level of latency. The survey has shown the sliding-only video transformation reduces the task completion time by up to 25.53%, and the sliding-and-zooming transformation reduces the task completion time by up to 21.82%. The sliding-only interface reduces the oscillation count by up to 66.28%, and the sliding-and-zooming interface reduces it by up to 75.58%. The qualitative feedback from the participants also shows that both types of assistive interfaces offer better visual situational awareness, comfort, and controllability, and significantly reduce the impact of latency and intermittency on the teleoperation task.

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Effects of a Delay Compensation Aid on Teleoperation of Unmanned Ground Vehicles

Cited by 3 publications

References 7 publications

Network Latency in Teleoperation of Connected and Autonomous Vehicles: A Review of Trends, Challenges, and Mitigation Strategies

Network Latency in Teleoperation of Connected and Autonomous Vehicles: A Review of Trends, Challenges, and Mitigation Strategies

Delivery of Healthcare Resources Using Autonomous Ground Vehicle Convoy Systems: An Overview

High Latency Unmanned Ground Vehicle Teleoperation Enhancement by Presentation of Estimated Future through Video Transformation

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