An Internet RobotTele-operating System

A server-decentralized internet modelbasedon Jabberforrobottele-operation withP2Pstreammediatransfer supplement basedonJXTAisproposed. Thesystem iscomposed offourcomponents: operators, robots, transfer servers anddata- keeper. Therobot-controlling data/robot state dataarepacked withXML stanzas anddelivered totheresolved robot/operator through XML streams. Thelocale audio/video mediastreams of therobot aresentdirectly through P2Ppipes totheoperators. In ordertotestitsavailability andperformance, themodelis implemented andinstanced asremote control systems forVirtual Puma560robot andtheHexapodMonster robot. Experiments of thesystems andnetwork tests arecarried outtoevaluate the instances; theresults showthatthesystems aresuitable formany kinds ofrobot tele-operation scenarios despite thetoughnetwork environment. Keywords-Jabber, Tele-operation, Robotsimulation, P2P I. INTRODUCTION