Call for Paper - November 2023 Edition
IJCA solicits original research papers for the November 2023 Edition. Last date of manuscript submission is October 20, 2023. Read More

OATS: An Architectural Design and Implementation for Telepresence Robots

International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Year of Publication: 2016
Swapnil Kalhapure

Swapnil Kalhapure. OATS: An Architectural Design and Implementation for Telepresence Robots. International Journal of Computer Applications 150(12):20-24, September 2016. BibTeX

	author = {Swapnil Kalhapure},
	title = {OATS: An Architectural Design and Implementation for Telepresence Robots},
	journal = {International Journal of Computer Applications},
	issue_date = {September 2016},
	volume = {150},
	number = {12},
	month = {Sep},
	year = {2016},
	issn = {0975-8887},
	pages = {20-24},
	numpages = {5},
	url = {},
	doi = {10.5120/ijca2016911556},
	publisher = {Foundation of Computer Science (FCS), NY, USA},
	address = {New York, USA}


Robotic Telepresence systems focus majorly on the concept of telecommunication and remote presence with independent mobility. Recently a number of Telepresence robots have been introduced in the market, each with some unique feature and show-off factor. While these systems promise good user experience, they are too expensive for the general public to use them. This paper proposes an innovative approach to build a commercial robotic Telepresence system called OATS. OATS stands for “Open Access Telepresence Systems”, which is an architecture primarily based on open source platforms like, WebRTC and MQTT. The uniqueness of the architecture is that, the Telepresence robot can use any mobile smartphone running an OATS client application, as the brain of the robot, reducing the need of expensive, onboard electronics and processing power. The smartphone connects to a robotic platform that enables the robot to move. Using this robot, a person can remotely interact using any smartphone or laptop. This OATS client connects to a server which provides services required for peer to peer videoconferencing and machine communication between the clients. A user can login to one of this Telepresence robot and pilot it in a remote area, from any part of the world. This architecture not only reduces the cost of the Telepresence robot, but the use of smartphone platform also opens up whole new possibilities for development of next generation of telepresence robots. In this paper, we briefly discuss the OATS architecture, its deployment strategies and its advantages over existing systems.


  1. Nadia Magnenat Thalmann , Zerrin Yumak , Aryel Beck "Autonomous Virtual Humans and Social Robots in Telepresence", 2014 IEEE 16th International Workshop on Multimedia Signal Processing (MMSP), Jakarta, Indonesia, Sep. 22-24, 2014
  2. Sergej Alekseev, Christian von Harscher, Marco Schindler, “Finite State Machine based Flow Analysis for WebRTC Applications”, 978-1-4799-4233-6/14/ 2014 IEEE
  3. Florian Rhinow, Pablo Porto Veloso, Carlos Puyelo, Stephen Barrett, Eamonn O Nuallain, “P2P Live Video Streaming in WebRTC”, 978-1-4799-3351-8/14/ 2014 IEEE
  4. Katherine M. Tsui, Adam Norton, Daniel J. Brooks, Eric McCann, Mikhail S. Medvedev, and Holly A. Yanco "Audio-Visual Attention Control of a Pan-Tilt Telepresence Robot", 2013 13th International Conference on Control, Automation and Systems (ICCAS 2013) in Kimdaejung Convention Center, Gwangju, Korea Oct. 20-23, 2013.
  5. Akansel Cosgun, Dinei A. Florencio and Henrik I. Christensen "Autonomous Person Following for Telepresence Robots", 2013 IEEE International Conference on Robotics and Automation (ICRA) Karlsruhe, Germany, May 6-10, 2013
  6. Alan Johnston, John Yoakum, and Kundan Singh, Avaya Inc, “Taking on WebRTC in an Enterprise”, 0163-6804/13/ 2013 Communications Magazine April 2013
  7. Wajdi Elleuch, “Models for Multimedia Conference between Browsers based on WebRTC ”, 2013 Sixth International Workshop on Selected Topics in Mobile and Wireless Computing, 978-1-4799-0428-0/13/ 2013 IEEE
  8. Jukka K. Nurminen, Antony J. R. Meyn, Eetu Jalonen, Yrjo Raivio and Ra´ul Garc´ıa Marrero, “P2P Media Streaming with HTML5 and WebRTC”, 978-1-4799-0056-5/13/ 2013 IEEE
  9. Sina Radmard and Elizabeth A. Croft "Overcoming Occlusions in Semi-Autonomous Telepresence Systems", 978-1-4799-2722-7/13/ 2013 IEEE Science, 1989


Telepresence, WebRTC, MQTT, audio, visual, Telerobotics, Teleoperations.