Distributed Architecture for Teleoperation over the Internet.

This paper discusses challenges in enabling teleoperation over the Inter net for the specific case of real systems which exhibit fast dynamics.A distributed client-server architecture is proposed to provide the necessary level of interactiv ity for supervision and tuning,without compromising the essential control tasks. Enabling features include real-time simulation and augmented-reality visualization to enhance the user perception of the distant ongoing operations.The proposed approach is illustrated through the remote control of an inverted pendulum.