In this paper, we introduce a software and hardware structure for on-linemobile robotic systems. The hardware mainly consists of a Multi-Sensor SmartRobot connected to the Internet through 3G mobile network. The system employs aclient-server software architecture in which the exchanged data between theclient and the server is transmitted through different transport protocols.Autonomous mechanisms such as obstacle avoidance and safe-point achievement areimplemented to ensure the robot safety. This architecture is put into operationon the real Internet and the preliminary result is promising. By adopting thisstructure, it will be very easy to construct an experimental platform for theresearch on diverse tele-operation topics such as remote control algorithms,interface designs, network protocols and applications etc.
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