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In this paper, we develop a software-defined radio (SDR)-based teleoperating cyber-physical system (CPS) for disaster environment exploration, named AVATARS, which includes a telerobot and a teleoperator. The telerobot of AVATARS can be sent into some dangerous or inaccessible disaster environments for search and rescue tasks. Assisted by the environment information collected by the telerobot, the teleoperator can have a better understanding of the detected disaster environment, and the telerobot can be teleoperated more precisely to accomplish tasks effectively. Wireless communications play a vital role for AVATARS to guarantee its flexibility and scalability. To support reliable wireless transmission and real-time wireless teleoperation, we design an efficient and reliable wireless link to enhance the effective throughput of AVATARS. In the link, wireless communication efficiency is improved by using the packets pipelining and accumulative acknowledgement strategy based on the traditional stop-and-wait ARQ protocol. Sequentially, cognitive radio techniques are explored, and an adaptive channel switching mechanism is proposed to mitigate channel interferences in the crowded ISM band. Furthermore, three different kinds of control information are integrated into a single acknowledgement (ACK) packet to reduce communication overhead. The wireless link is implemented on SDR platforms, and extensive experiments under different conditions are carried out to evaluate its performance. The effective throughput of AVATARS can be enhanced more than four times compared with the traditional stop-and-wait ARQ protocol. We also present a video demo to show the powerful and interesting performance of AVATARS.

AVATARS: a software-defined radio based teleoperating cyber-physical system for disaster environment exploration