ASSET: A Testbed for Teleoperation Systems

Development of a teleoperation system means development of several subsystems, such as control devices modules, communications and graphic user interface. Each one of these components is studied, conceived, and built generally in an independent way with particular software and methods. The complexity of the system can involve a very expensive development and integration of components to complete the system. In this case an environment of evaluation very easily configurable and domain-adaptable is a useful tool. In this article, we propose ASSET, a reusable framework for the development of systems of teleoperation. Our system allows to test simulation models, 3D scenes, behaviors of autonomous entities and new devices. This system was used with modules of behavioral simulation developed in the laboratory to study the assistance of autonomous robots within the framework of a teleoperation mission. Key-Words: teleoperation testbed, robotics, simulation, interaction devices, frameworks, virtual reality