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Wireless HROV Control with Compressed Visual Feedback Using Acoustic and RF Links

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Wireless HROV Control with Compressed Visual Feedback Using Acoustic and RF Links

dc.contributor.author	Centelles, Diego
dc.contributor.author	Soriano Asensi, Antonio
dc.contributor.author	Marín, Raúl
dc.contributor.author	Sanz, Pedro J.
dc.date.accessioned	2020-03-30T11:08:16Z
dc.date.available	2020-03-30T11:08:16Z
dc.date.issued	2020
dc.identifier.citation	Centelles, Diego Soriano Asensi, Antonio Marín, Raúl Sanz, Pedro J. 2020 Wireless HROV Control with Compressed Visual Feedback Using Acoustic and RF Links Journal of Intelligent and Robotic Systems: Theory and Applications 2020
dc.identifier.uri	https://hdl.handle.net/10550/73710
dc.description.abstract	Underwater cooperative robotics offers the possibility to perform challenging intervention applications, such as recovering archeological objects as within the context of the MERBOTS research project, or grasping, transporting and assembly of big objects, using more than one mobile manipulator, as faced by the TWINBOT project. In order to enhance safety during the intervention, it is reasonable to avoid the umbilical, also giving more mobility to the robots, and enabling a broader set of cooperative movements. Several solutions, based on acoustic, radiofrequency (RF) or Visual Light Communication (VLC) have been proposed for underwater communications in the literature. This paper presents the architecture of an underwater wireless communication framework for the control of multiple semi-autonomous robots in cooperative interventions. The proposed framework is composed of several modules as the virtual reality interface using UWSim, the Underwater Multi-robot Cooperative Intervention Remote Control Protocol (UMCI-RCP) and a Generic Link Layer (GLL). UMCI-RCP allows the control of an underwater robot over limited communication links. UMCI-RCP integrates a progressive compression algorithm that provides visual feedback at a constant rate and ensures image reception even in channels with loses. The Time Division Multiple Access (TDMA) medium access strategy minimizes the jitter of transmitted packets. The GLL has been designed in order to provide support for multimodal transmission (i.e. acoustic, RF and VLC) and also to interface with the UWSim-NET simulator so that facilitates the experimentation either with a real or with a simulated modem. The possibility of exchange real and simulated devices in the proposed framework are demonstrated by means of a teleoperation experiment with a BlueROV equipped with the S100 RF modems. Hardware-In-the-Loop (HIL) capabilities are demonstrated repeating the experiment with the real modems and modeling the BlueROV, and also modeling both the modems and the BlueROV.
dc.language.iso	eng
dc.relation.ispartof	Journal of Intelligent and Robotic Systems: Theory and Applications, 2020, vol. 2020
dc.subject	Xarxes locals sense fil Wi-Fi
dc.subject	Informàtica
dc.title	Wireless HROV Control with Compressed Visual Feedback Using Acoustic and RF Links
dc.type	journal article	es_ES
dc.date.updated	2020-03-30T11:08:16Z
dc.identifier.doi	10.1007/s10846-020-01157-5
dc.identifier.idgrec	137363
dc.rights.accessRights	open access	es_ES