Compensation of out-of-order delivery using Kalman Filter for teleoperation system

This paper proposes a new method to compensate out-of-order delivery in teleoperation systems with network. Out-of-order packets generally deteriorate the performance of the system. Re-order buffer is one of the methods to compensate out-of-order delivery. However, designing of the size of re-order buffer is difficult and this buffer makes additional time-delay to wait for the delayed packets. This time-delay degrades the real-time property of the teleoperation system. Therefore, this paper proposes a new compensation method using Kalman Filter. This method considers out-of-order delivery as noise in the system and compensates it in the spatial domain in real time. The experimental results show the validity of the proposed method.