End-to-end congestion control protocols for remote programming of robots, using heterogeneous networks: A comparative analysis

Authors:
Raul Wirz;Raul Marín;José M. Claver;Manuel Ferre;Rafael Aracil;Josep Fernández
Affiliations:
Computer Engineering and Science, University Jaume I (UJI), 12071 Castellón, Spain;Computer Engineering and Science, University Jaume I (UJI), 12071 Castellón, Spain;Dept. de Informítica, Universitat de València, 46100-Burjassot, Spain;Automatics, Electronics Engineering, and Industrial Computers Department, Universidad Politécnica de Madrid, E-28006 Madrid, Spain;Automatics, Electronics Engineering, and Industrial Computers Department, Universidad Politécnica de Madrid, E-28006 Madrid, Spain;Computer Science Department, Universidad Politécnica de Cataluña, Spain
Venue:
Robotics and Autonomous Systems
Year:
2008

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Abstract

There are many interesting aspects of Internet Telerobotics within the network robotics context, such 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 help to minimize the effect of delay and bandwidth fluctuation on network robotics. In this paper, we present the capabilities of TCP, UDP, TCP Las Vegas, TEAR, and Trinomial protocols, when performing a remote experiment within a network robotics application, the UJI Industrial Telelaboratory. Comparative analysis is presented through simulations within the NS2 platform. Results show how these protocols perform in two significant situations within the network robotics context, using heterogeneous wired networks: (1) an asymmetric network when controlling the system through a ADSL connection, and (2) a symmetric network using the system on Campus. Conclusions show a set of characteristics the authors of this paper consider very important when designing an End-to-End Congestion Control transport protocol for Internet Telerobotics.