State prediction approach for master-slave agents in presence of communication delay

Teleoperation is a mechanism that makes it possible to accomplish a task in an environment where the presence of the master at the slave site is either undesirable or hardly possible The communication delay is a challenge with undesirable effects, jeopardizing the teleoperated systems the most. When the salve agent is performing in a dynamically changing environment, communication delay can be very harmful since the environment is changing continuously even though the agent has stopped operating because of the delay. Many studies have been conducted to overcome time delay effects.