Tele-Robotic Distributed Architecture for Sewer Exploration

An integrated distributed computing system for industrial tele-robotic tasks is discussed. Three main aspects are in focus: the architecture of the (network distributed computing system) on-board the robots, the tele-robotics assistance scheme in sewer exploration applications, and the robotic platforms. In this manuscript we present a focus in parallel hardware as the key issue to improve robot's tasks capabilities. The design of the robotic architecture for real world applications is in great extent a main concern to achieve a high robot's performance. The effectiveness and reliability critically depends on the presented distributed architecture and multi-sensor organization. Real results on tele-robotics environmental data collection are presented, as well as the tele-assistance proposed scheme.