Adaptation of control parameters based on QoS monitoring

The teleoperation of robotic systems through heterogeneous networks such as the Internet are more and more current nowadays. The various delays of data transfer with this kind of networks have to be taken into account in the control/observation loop. This paper presents a Quality of Service (QoS) architecture dedicated to control parameters adaptation to resources fluctuations and its use for the teleoperation of a mobile robot. The experimental results show the validity of the approach.