Control of a Semi-Autonomous UGV using Lossy Low-Bandwidth Communication

This paper describes various mechanisms for supervisory remote operation of an UGV. Contrary to common Wi-Fi (IEEE 802.11) approaches our approach enables communication via a lossy low-bandwidth radio link. The mechanisms include the massive reduction of environmental sensor data for transmission to the operator. The vehicle itself is capable of semi-autonomous control. Doing so, the operator is removed from the high frequent vehicle control loop and maintains situational awareness.