DESIGN AND IMPLEMENTATION OF TELEPRESENCE SYSTEM ON A MOBILE ROBOTIC TELEPRESENCE

• Main Author: Nathanael, Nicholas
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/53262
• Institution: Institut Teknologi Bandung

Mobile robotic telepresence systems incorporate video conferencing equipment in a mobile robot. Integrating efficient video conferencing and real-time communication in robot teleoperation is a challenge faced by a robotic telepresence system. The use of open-source projects in the telepresence robot development provides the flexibility needed to overcome such challenge. Nevertheless, the use of open-source projects has its own challenges in designing a complete architecture for robotic telepresence systems. This article presents the design of the robotic telepresence architecture utilising the open-source WebRTC technology and the MQTT communication protocol. WebRTC is used for exchanging audio and video streams, whereas the MQTT protocol is used for transmitting robot commands and warnings. This architecture relies on three cloud services: MQTT broker, STUN/TURN server, and Firebase. The architecture needs STUN/TURN server to cope with network address translators (NATs) and firewalls. It also needs Firebase to function as a signalling server and a database that stores visitors and robots information. The architecture was then implemented on the Android operating system and evaluated by participants using various Android devices and internet connections. The evaluation shows that the robotic telepresence architecture performed well across multiple internet connections and Android devices.