Environment-motivated real-time bandwidth allocation for collaborative robots teleoperation

Abstract

An environment-motivated real-time dynamic optimized bandwidth allocation algorithm for teleoperation of collaborative robots is presented in this paper. The proposed method is a progression of the work in [1] in which Interesting Events (IEs) occurring in the robotic swarm's environment and the change in the swarm's Quality of Collaboration (QoC) are utilized to solve the bandwidth management optimization problem. The importance of this work is that it captures the dynamics of the robotic swarm's surrounding environment in real-time, and uses it as an input to a Fuzzy Interference System (FIS) which continuously updates a weight matrix `M' reflecting the importance of each IE and the change in QoC in the bandwidth allocation problem. Therefore, the human judgment used to setup M was replaced by an autonomous fuzzy expert system.