Task Driven Dynamic QoS Based Bandwidth Allocation for Real-time Teleoperation via the Internet

Wai Keung Fung; Ning Xi; Wang Tai Lo; Boo Heon Song; Yu Sun; Yun Hui Liu; Imad H. Elhajj

doi:10.1109/IROS.2003.1248790

Task Driven Dynamic QoS Based Bandwidth Allocation for Real-time Teleoperation via the Internet

Wai Keung Fung^*, Ning Xi, Wang Tai Lo, Boo Heon Song, Yu Sun, Yun Hui Liu, Imad H. Elhajj

^*Corresponding author for this work

Research output: Contribution to conference › Paper › peer-review

23 Citations (Scopus)

Abstract

In real-time Internet based teleoperation, different robotic tasks have different dexterity requirements during task progress and thus different network resources are required for safe and reliable task accomplishment. In order to control remote manipulators efficiently and smoothly via the Internet, dynamic bandwidth allocation is crucial to successful accomplishment of robotic tasks controlled by remote operator. In this paper, a novel bandwidth allocation mechanism is developed based on the online measured Task Dexterity Index of current dexterous tasks so that operators can control remote manipulators efficiently and smoothly even under poor network quality. Experiments have been conducted to demonstrate the effectiveness of the presented resource (bandwidth) allocation algorithm in Internet based teleoperation system.

Original language	English
Pages	1094-1099
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2003.1248790
Publication status	Published - Dec 2003
Externally published	Yes
Event	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States Duration: 27 Oct 2003 → 31 Oct 2003

Conference

Conference	2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	United States
City	Las Vegas, NV
Period	27/10/03 → 31/10/03

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10.1109/IROS.2003.1248790

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title = "Task Driven Dynamic QoS Based Bandwidth Allocation for Real-time Teleoperation via the Internet",

abstract = "In real-time Internet based teleoperation, different robotic tasks have different dexterity requirements during task progress and thus different network resources are required for safe and reliable task accomplishment. In order to control remote manipulators efficiently and smoothly via the Internet, dynamic bandwidth allocation is crucial to successful accomplishment of robotic tasks controlled by remote operator. In this paper, a novel bandwidth allocation mechanism is developed based on the online measured Task Dexterity Index of current dexterous tasks so that operators can control remote manipulators efficiently and smoothly even under poor network quality. Experiments have been conducted to demonstrate the effectiveness of the presented resource (bandwidth) allocation algorithm in Internet based teleoperation system.",

author = "Fung, {Wai Keung} and Ning Xi and Lo, {Wang Tai} and Song, {Boo Heon} and Yu Sun and Liu, {Yun Hui} and Elhajj, {Imad H.}",

year = "2003",

month = dec,

doi = "10.1109/IROS.2003.1248790",

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note = "2003 IEEE/RSJ International Conference on Intelligent Robots and Systems ; Conference date: 27-10-2003 Through 31-10-2003",

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AU - Fung, Wai Keung

AU - Xi, Ning

AU - Lo, Wang Tai

AU - Song, Boo Heon

AU - Sun, Yu

AU - Liu, Yun Hui

AU - Elhajj, Imad H.

PY - 2003/12

Y1 - 2003/12

N2 - In real-time Internet based teleoperation, different robotic tasks have different dexterity requirements during task progress and thus different network resources are required for safe and reliable task accomplishment. In order to control remote manipulators efficiently and smoothly via the Internet, dynamic bandwidth allocation is crucial to successful accomplishment of robotic tasks controlled by remote operator. In this paper, a novel bandwidth allocation mechanism is developed based on the online measured Task Dexterity Index of current dexterous tasks so that operators can control remote manipulators efficiently and smoothly even under poor network quality. Experiments have been conducted to demonstrate the effectiveness of the presented resource (bandwidth) allocation algorithm in Internet based teleoperation system.

AB - In real-time Internet based teleoperation, different robotic tasks have different dexterity requirements during task progress and thus different network resources are required for safe and reliable task accomplishment. In order to control remote manipulators efficiently and smoothly via the Internet, dynamic bandwidth allocation is crucial to successful accomplishment of robotic tasks controlled by remote operator. In this paper, a novel bandwidth allocation mechanism is developed based on the online measured Task Dexterity Index of current dexterous tasks so that operators can control remote manipulators efficiently and smoothly even under poor network quality. Experiments have been conducted to demonstrate the effectiveness of the presented resource (bandwidth) allocation algorithm in Internet based teleoperation system.

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DO - 10.1109/IROS.2003.1248790

M3 - Paper

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EP - 1099

T2 - 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 27 October 2003 through 31 October 2003

ER -

Task Driven Dynamic QoS Based Bandwidth Allocation for Real-time Teleoperation via the Internet

Abstract

Conference

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