Stability and Performance Analysis of Centralized and Distributed Multi-rate Control Architectures for Multi-user Haptic Interaction

@article{Fotoohi2007StabilityAP,
  title={Stability and Performance Analysis of Centralized and Distributed Multi-rate Control Architectures for Multi-user Haptic Interaction},
  author={Mahyar Fotoohi and Shahin Sirouspour and David W. Capson},
  journal={I. J. Robotics Res.},
  year={2007},
  volume={26},
  pages={977-994}
}
This paper is concerned with multi-user haptic simulation environments in which users can interact across an Ethernet-based Local Area Network (LAN) or a Metropolitan Area Network (MAN). Using network protocols such as the UDP and TCP/IP under normal network traffic conditions, the achievable real-time packet communication rate can be well below the 1 kHz update rate suggested in the literature for high fidelity haptic rendering. However by adopting a multi-rate control strategy, the local… CONTINUE READING
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