Experience in Teleoperation System Design based on Real-Time CORBA

Novel remote operation paradigms, such as tele-teaching/tele-learning, virtual laboratories, and online robots, represent challenging distributed robotic applications, where developers must deal with heterogeneous, dynamic, and highly concurrent control systems. Distributed Object Computing can be essential to cope with the complexity of such systems, offering the many advantages of the Object Oriented programming paradigm. In this paper, we describe the development of a teleoperated robotic application exploiting a framework for distributed telerobotics based on advanced CORBA features, such as Asynchronous Method Invocation and real-time priorities. The case study demonstrates the potential advantages brought by CORBA on the overall development process of telerobotic applications.