Performance Validation of PT-DCD Using a Path Tracking Algorithm: A Predictor for Teleoperation under Dynamic Communication Delays

• Published in: Conference proceedings (IEEE Workshop on Advanced Robotics and its Social Impacts.) pp. 134 - 138
• Main Authors: Kang, Hwanhee, Cha, Hyunrok, Hwang, Myeonghwan, Yoon, Seungha, Kim, Eugene
• Format: Conference Proceeding
• Language: English
• Published: IEEE 17.07.2025
• Subjects: Delays; Heuristic algorithms; Long short term memory; Robot sensing systems; Stability analysis; Thermal stability; Training; Trajectory; Vehicle dynamics; Wireless communication
• ISSN: 2162-7576
• DOI: 10.1109/ARSO64737.2025.11124958

Teleoperation is a technology that enables remote control of robots, rovers, and vehicles, and it is widely used in various fields such as surgical robotics, lunar exploration, and unmanned shared vehicle relocation. However, teleoperation systems rely on wireless communication to exchange control commands and sensor data, which introduces communication delays that can degrade control stability. While various approaches have been studied to mitigate the effects of such delays, they continue to pose a major challenge in teleoperation systems. In previous research, we proposed PT-DCD (Predictor for Teleoperation under Dynamic Communication Delay), a datadriven, model-free predictor based on a deep learning network, specifically the Long Short-Term Memory (LSTM). PT-DCD showed the potential to mitigate the effects of communication delay by predicting real-time control commands. Specifically, when the PT-DCD was validated under varying outlier ratios, its delay-reduction performance was consistently observed across all environments. Therefore, in this paper, we evaluate whether PT-DCD can perform effectively in environments it has not been trained on, assessing its generalization capability. Performance is measured using three metrics: average trajectory error, goal point error, and acceptable error ratio. Consequently, experimental results show that PT-DCD effectively reduces the impact of communication delays and improves teleoperation stability.