Semi-autonomous micro robot control and video relay through internet and iridium networks

ABSTRACT

This paper describes the experimental design, implementation, and testing of a network for tele-command, control, and communications of micro robots over long distances. The system utilizes commercial low bandwidth satellites to transmit near real-time video and leverages micro-robot platform synergies for command-communications relays. The system is capable of controlling micro ground vehicles and micro air vehicles (MAVs) over long distances using a small UAV as a communications relaying device. System elements meet size, power and mass constraints such that they may interface with control and power subsystems on micro robotic platforms and are scalable to control several entities simultaneously. We report the successful testing of the system in intercontinental experiments for control of both aerial and terrestrial micro robots between the Naval Postgraduate School (NPS) in Monterey, CA, USA, The University of Southampton, UK, and Space Warfare Systems Command (SPAWAR) in San Diego, CA, USA. We believe this research will serve as a proof of concept for future testing for a wide range of micro robotic command and control applications.

References

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Index Terms

• Applied computing

• Computer systems organization

  • Embedded and cyber-physical systems

    • Robotics

      • Robotic autonomy

  • Real-time systems

• Computing methodologies

  • Artificial intelligence

    • Control methods

      • Robotic planning

• Networks