Model-based development of virtual laboratories for robotics over the internet
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans - Special issue on recent advances in biometrics
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In this paper we describe a mobile robotics virtuallaboratory, that allows the user to define and performremote experiments over the Internet using a mobileminirobot. The user interacts with a user interface, whichreceives a workspace top view from a remote laboratoryfacility. She defines and draws a C-Space on the image,and provides a destination point. Once C-Space anddestination are defined, a potential field based plannerdraws a path. This path is sent to the laboratory facilityand a vision-based computer system makes the robotfollow that path. Several capabilities to enhance real-timeuser's interaction are provided: grab and drop pathmodification, virtual obstacles insertion, changeableexperiment settings, and a complementary observersystem used to get a detailed view of the robot and itsworkspace.