Most control systems on the Internet were built using static HTML pages and CGI programs (Common Gateway Interface). These systems allow the user to control a robot be in a static environment or in the exploration of dynamic environments. Other projects are interested in remote control of mobile robots as systems KhepOnTheWeb, the proposed Museum Tour-Guide and the proposed WebPioneer. The idea of making available a device using a web interface has been followed by many projects, including the robotic telescope Cox, the mobile robot "FortyTwo" in Manchester DIGIMUSE system designed to visualization Interactive art and the web interface for NASA's Pathfinder mission that allowed researchers to collaborate and work in the mission without moving to the control center in California. Several other interfaces were then used to simplify the robot control. In the first version of this system (Figure 1), users had to enter coordinates to specify the spatial movements of the manipulator. In September 1994, another RMS has been online this time in the University of Western Australia. It allowed users to grab and manipulate various objects using a robotic arm. The Mercury project has been put online in August 1994. This system used a webcam to transmit images of a coffee maker placed in the computer lab at the University of Cambridge. The first device "distributed" on the Internet has been the Cambridge Coffee Pot. More importantly, the teleoperation on Internet opens up very significant opportunities for collaboration and sharing of resources between different research teams scattered around the world. Moreover, since the interface is easy to understand and control, the user does not require training. These systems require an infrastructure for easy deployment and are available worldwide. S TATE OF THE ART In many robotic systems operated through the World Wide Web have been developed in recent years. summarize, we will deal with a survey of the work done followed by a projection on the future world of teleoperation and MAS II.
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