@article {Kawabata:1 March 2001:0169-1864:1,
	author = "Kawabata, Kuniaki",
	author = "Sekine, Takeshi",
	author = "Suzuki, Tsuyoshi",
	author = "Fujii, Teruo",
	author = "Asama, Hajime",
	author = "Endo, Isao",
	title = "Mobile robot teleoperation system utilizing a virtual world",
	journal = "Advanced Robotics",
	volume = "15",
	year = "1 March 2001",
	abstract = "This paper discusses the problems in teleoperation systems for a mobile robot and the utilization of a virtual world in such systems. In order to achieve smooth operation of the mobile robot through a communication link, we should consider time delays in data transfer. To compensate for the incomplete data sets, the virtual images can be generated by computer graphics when the information on the working environment can be acquired beforehand. In this paper, we construct a teleoperation system with a virtual world. The performance of the system is examined through experiments with actual mobile robots which show that the virtual robot can be operated by an operator in almost the same manner as the teleoperated real robot. In an experimental environment with a second moving robot, we can keep the status of the second robot under perfect control and operate the first robot with no interference.",
	pages = "1-16(16)",
	url = "http://www.ingentaconnect.com/content/vsp/arb/2001/00000015/00000001/art00001"
	doi = "doi:10.1163/156855301750095550"
}