Web-based robotic control system with flexible framework

Successful applications of Web-based robotic systems must be tolerant of restricted and variable bandwidth, arbitrary delay of the Internet and limited robotic autonomy. As a first step to building such a system, this paper presents a framework in which the technologies of distributed object, multicast communication, proxy and leasing patterns are introduced to make it flexible and extendable. Implementation of a primary robotic system based on the proposed framework is given in detail. Using a Web browser, remote operators can control the Pioneer-2DX mobile robot to navigate and operate in the indoor environment with visual feedback and a virtual environment map through the Internet.