A Data-Rate Aware Telemetry Scheduler

Punitha Manavalan and Michael D. Wagner
tech. report CMU-RI-TR-01-12, Robotics Institute, Carnegie Mellon University, May, 2001

  • Adobe portable document format (pdf) (299KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Tele-operation of robots involves transmission of numerous telemetry data across often low-quality communication links. The available data rate of these links may vary over the course of a mission; however a human tele-operator must always receive at least the most critical data to safeguard the robot. This paper presents the Telemetry Manager, a data rate-aware telemetry scheduler that attempts to guarantee delivery of high-priority data from robot to operator even in the face of a low-performance communication link. In our scheme, data are prioritized by their "time to live" (TTL). Data with small TTLs are sent before those with large TTLs. We compare how capably the Telemetry Manager can achieve this performance to a control scenario where communication over a network link is not scheduled. The initial results show marked improvement in the number of high-priority messages received within their TTL as well as in mean transmission times of high-priority messages.

Wireless communication, mobile robots

Associated Center(s) / Consortia: Field Robotics Center

Text Reference
Punitha Manavalan and Michael D. Wagner, "A Data-Rate Aware Telemetry Scheduler," tech. report CMU-RI-TR-01-12, Robotics Institute, Carnegie Mellon University, May, 2001

BibTeX Reference
   author = "Punitha Manavalan and Michael D Wagner",
   title = "A Data-Rate Aware Telemetry Scheduler",
   booktitle = "",
   institution = "Robotics Institute",
   month = "May",
   year = "2001",
   number= "CMU-RI-TR-01-12",
   address= "Pittsburgh, PA",