Optimal incremental approach to the motion compression for telepresent locomotion

Telepresent system enables a user in local environment to operate in a remote or virtual environment through a robotic operator (agent). One of the key techniques for the system is that the user could move in local environment as what the agent would like to do in remote environment. However, since the size of local environment is normally limited while the size of remote environment is arbitrary, motion of the remote robot should be compressed and mapped to the local user, taking account of limitation of local environment. Meanwhile, the shape and length of the path, along which the robot moves, should be retained when being mapped to the local user, to ensure the realism of the telepresence. In this paper, this problem is addressed from the optimization point of view. A universal framework to mathematically approach this problem is proposed. The presented solution is easy to be extended to more complicated cases with more constraints involved, such as multiple users share one local environment. Extensive simulations show the feasibility and the effectiveness of the proposed approach.