End To End Congestion Control Protocols For Remote Programming Of Robots Using Heterogeneous Networks^^ A Comparative Analysis英文电子书.pdf

Robotics and Autonomous Systems 56 (2008) 865–874 Contents lists available at ScienceDirect Robotics and Autonomous Systems journal homepage: /locate/robot End-to-end congestion control protocols for remote programming of robots, using heterogeneous networks: A comparative analysis Raul Wirz a , Raul Marín a,∗, José M. Claver b , Manuel Ferre c , Rafael Aracil c , Josep Fernández d a Computer Engineering and Science, University Jaume I (UJI), 12071 Castellón, Spain b Dept. de Informàtica, Universitat de València, 46100-Burjassot, Spain c Automatics, Electronics Engineering, and Industrial Computers Department, Universidad Politécnica de Madrid, E-28006 Madrid, Spain d Computer Science Department, Universidad Politécnica de Cataluña, Spain a r t i c l e i n f o a b s t r a c t Article history: There are many interesting aspects of Internet Telerobotics within the network robotics context, such Available online 27 June 2008 as variable bandwidth and time-delays. Some of these aspects have been treated in the literature from the control point of view. Moreover, only a little work is related to the way Internet protocols can Keywords: help to minimize the effect of delay and bandwidth fluctuation on network robotics. In this paper, we Networked robots present the capabilities of TCP, UDP, TCP Las Vegas, TEAR, and Trinomial protocols, when performing a Internet congestion control protocol Telerobotics remote experiment within a n