REAL-a virtual laboratory built from software components

This paper presents the Remotely Accessible Laboratory (REAL), a virtual laboratory accessible through the Internet. REAL allows a remote user to manipulate a mobile robot in a mode of interaction suitable to his or her level of expertise. A basic mode of interaction, dedicated to users with limited knowledge of robotics, supports interaction via teleoperation. In a more advanced level of interaction, expert users can plan and execute complex robotics experiments that exploit the full capabilities of the robot. In this mode of interaction, experiments in the field of autonomous navigation, environmental mapping, sensor fusion, mission planning, and robot control can be performed. Finally, a third mode of interaction allows a set of trainees to follow the interactions conducted by an instructor. The architecture of REAL departs from the commonplace World Wide Web applications, since it employs a sophisticated software architecture based on software components. This architecture presents a high degree of reusability that future developments in the field of Internet robots and virtual laboratories can take advantage of.