Internet enhanced teleoperation toward a remote supervised delay regulator

Network based control of remote systems has been widely tackled and numerous methods have been proposed to deal with small and or constant delays. However, on long distance network, bandwidth and network delays may notably vary (beyond hundreds of milliseconds) according to events occurring along the transmission lines. This paper presents the long distance remote control of a small mobile robot. To face important network delay variations and possible connection rupture, a supervised delay regulator based architecture is proposed. Results of experiences that have been performed from Mexico to France are given and explained.