Multirobot System Architecture and Performance Issues for the UJI Robotics TeleLab

In order to desing a Robotics Tele-Laboratory that permits simultaneous remote control and programming of several robots, we must take into account multiple aspects. One of the most important refers to the System Architecture and Communication Technology that permits such a level of multirobot interaction. In this paper we present the system architecture that has been used in our laboratory to let users program remotely two educational and two industrial robots through the same web-based system. Experimental results show different alternatives to organize the architecture and focus on the system performance aspects.