Event-based estimation and control for remote robot operation with reduced communication
Sebastian Trimpe, Jonas Buchli
Abstract
An event-based communication framework for remote operation of a robot via a bandwidth-limited network is proposed. The robot sends state and environment estimation data to the operator, and the operator transmits updated control commands or policies to the robot. Event-based communication protocols are designed to ensure that data is transmitted only when required: the robot sends new estimation data only if this yields a significant information gain at the operator, and the operator transmits an updated control policy only if this comes with a significant improvement in control performance. The developed framework is modular and can be used with any standard estimation and control algorithms. Simulation results of a robotic arm highlight its potential for an efficient use of limited communication resources, for example, in disaster-response scenarios such as the DARPA Robotics Challenge.
BibTeX
@inproceedings{icra2015_eventbasedestima,
title = {Event-based estimation and control for remote robot operation with reduced communication},
author = {Sebastian Trimpe and Jonas Buchli},
booktitle = {ICRA 2015},
year = {2015}
}