Multi-master hybrid telerobotics system with federated avatar control

A telerobotics system comprising:

• a memory storing instructions;
• one or more communication interfaces;
• and
• one or more hardware processors coupled to the memory via the one or more communication interfaces, wherein the one or more hardware processors serving as a plurality of masters being user devices associated with a corresponding user, a broadcaster, a signaling server, and a robot are configured by the instructions to:
• send a peer-to-peer (P2P) connection request, from a master amongst the plurality of masters, to the broadcaster via the signaling server, wherein the signaling server and the broadcaster are hosted on a public cloud and wherein the broadcaster is connected to a plurality of peers including (i) the plurality of masters and (ii) the robot in a star topology, each peer being identified by an associated peer-type;
• notify (i) an identifier (ID) associated with the robot and the master, and (ii) a current state of the robot, by the broadcaster to the signaling server, wherein the broadcaster comprises a state-register for maintaining the current state of the robot and a media-manager for combining an Audio-Visual (A/V) data received from the plurality of peers via the public cloud;
• respond, by the broadcaster via the signaling server, to the P2P connection request based on the current state of the robot, wherein the current state of the robot is set by the state-register of the broadcaster as one of (i) state_0 indicative of the robot not having joined a teleoperation session, (ii) state_1 indicative of the robot having joined the teleoperation session but not connected with the master using the P2P connection, and (iii) state_2 indicative of the robot being connected to the master;
• if the current state of the robot is state_1, perform in parallel, by the signaling server, the steps of:
• passing the ID associated with the robot and the current state of the robot received from the broadcaster to the master;
• and
• requesting the robot to initiate a P2P connection with the master associated with the ID received from the broadcaster;
• send, by the robot, a P2P connection offer to the master associated with the ID received, via the signaling server;
• accept the P2P connection offer, by the master via the signaling server;
• establish the P2P connection, on-demand between the master and the robot, upon exchanging of an Interactive Connectivity Establishment (ICE) candidate therebetween via the signaling server, wherein the robot represents an avatar of the master configured to control the robot via the P2P connection in a federated manner and the master is an active master of the teleoperation session;
• notify that the P2P connection is established, by the active master and the robot to the signaling server and by the signaling server to the broadcaster;
• and
• broadcast (i) the current state of the robot being state_2 and (ii) ID of the active master in P2P connection with the robot, to remaining masters amongst the plurality of masters, by the broadcaster.

One or more non-transitory machine-readable information storage mediums comprising one or more instructions which when executed by one or more hardware processors cause:

• sending a peer-to-peer (P2P) connection request, from a master amongst a plurality of masters being user devices associated with a corresponding user, to a broadcaster via a signaling server, wherein the signaling server and the broadcaster are hosted on a public cloud and wherein the broadcaster is connected to a plurality of peers including (i) the plurality of masters and (ii) a robot in a star topology, each peer being identified by an associated peer-type and interact with each other via messaging;
• notifying (i) an identifier (ID) associated with the robot and the master, and (ii) a current state of the robot, by the broadcaster to the signaling server, wherein the broadcaster comprises a state-register for maintaining the current state of the robot and a media-manager for combining an Audio-Visual (A/V) data received from the plurality of peers via the public cloud;
• responding, by the broadcaster via the signaling server, to the P2P connection request based on the current state of the robot, wherein the current state of the robot is set by the state-register of the broadcaster as one of (i) state_0 indicative of the robot not having joined a teleoperation session, (ii) state_1 indicative of the robot having joined the teleoperation session but not connected with the master using the P2P connection, and (iii) state_2 indicative of the robot being connected to the master;
• if the current state of the robot is state_1, performing in parallel, by the signaling server, the steps of:
• passing the ID associated with the robot and the current state of the robot received from the broadcaster to the master;
• and
• requesting the robot to initiate a P2P connection with the master associated with the ID received from the broadcaster;
• sending, by the robot, a P2P connection offer to the master associated with the ID received, via the signaling server;
• accepting the P2P connection offer, by the master via the signaling server;
• establishing the P2P connection, on-demand between the master and the robot, upon exchanging of an Interactive Connectivity Establishment (ICE) candidate therebetween via the signaling server, wherein the robot represents an avatar of the master configured to control the robot via the P2P connection in a federated manner and the master is an active master of the teleoperation session;
• notifying that the P2P connection is established, by the active master and the robot to the signaling server and by the signaling server to the broadcaster;
• and
• broadcasting (i) the current state of the robot being state_2 and (ii) ID of the active master in P2P connection with the robot, to remaining masters amongst the plurality of masters, by the broadcaster, wherein, the one or more hardware processors serve as the plurality of masters, the broadcaster, the signaling server and the robot.