TFRC-PROBE: A Transport Protocol for Teleoperation Systems of Mobile Robots

More and more efforts have been devoted to Internet based teleoperation systems of mobile robots. However, current available transport protocol TCP and UDP could not be used directly. New transport protocol suitable for mobile robot in wireless networks should be presented. This paper proposes a transport protocol for teleoperation systems of mobile robots based on TFRC, named TFRC-PROBE. It uses a probe host to get the wireless loss rate in real time and discriminate wireless loss from congestion loss. The results of NS-2 simulation shows that, compared with TFRC, its performance is improved observably, while attaining inter-fairness with TCP and intra-fairness with TFRC-PROBE itself.