Notice of Removal: A combined scheduling scheme for absolute and relative differentiated services in web-based teleoperation

The use of the World Wide Web for robot teleoperation grows in recent years due to the pervasiveness of Internet and web browsers, although web interfaces usually use Ethernet networks that exhibit delays. With increasing of users and robots the bottleneck of web server becomes critical. Most recent research in the area has been focused on improving time predictability of the network under delays, jitter, bandwidth, and reducing the delay on the Internet. Few research concerned about the delay in the web server (mainly, the queue delay). In this paper we first introduce the priority classify- cation into web-based teleoperation and consider a combined scheduling scheme with Absolute and Relative DiffServ. For demonstrating the goodness of our algorithm, we show a simulation of the algorithm for the direct teleoperation of the IRIS mobile robots, obtaining better behaviors than the WTP and WFQ.