We consider the problem of remotely operating an autonomous robot through a wireless communication channel. Our goal is to achieve a satisfactory tracking performance while reducing network usage. To attain this objective we implement a self-triggered strategy that adjusts the triggering condition to the observed tracking error. After the theoretical justification we present experimental results from the application of this adaptive self-triggered approach on a P3-DX mobile robot remotely controlled. The experiments show a relevant reduction on the generated network traffic compared to a periodic implementation and to a non-adaptive self-triggered approach, while the tracking performance is barely degraded.
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