## 5 Conclusions and Future Work  
The deployment and popularity of telerobotics is increasing, as dedicated infrastructure is no longer required for applications that have some latency tolerance. A growing benefit of this approach is the ability to perform tasks in hazardous environments without putting personnel at risk, or allowing skilled individuals to perform tasks without being physically present. These applications are of interest in both civilian and military applications and can be applied to a wide variety of use cases. This variety of use cases introduces different complex network topologies, however, which can greatly affect the reliability and latency of a telerobotic system. In this paper, we presented a latency analysis for a telerobotic system that utilizes an operator sending control information captured from a gamepad controller over a dynamically reconfigurable network topology to a remote robot platform, which then is tasked with executing those movement inputs from the controller, with a video feed also being streamed back from the robotic platform to the operator for visual feedback. Tests were then conducted with a locally wired network connection and through VPN access-controlled networks, with the operator connecting through Wi-Fi, a cellular hotspot, or an overseas connection from Finland to the United States. The results presented in this paper show stable average request durations of 6.6 ms, 58.4 ms, 115.4 ms, and 240.7 ms for each of the respective network scenarios. The specific objective of this research was to quantify and assess the individual latency components within the control feedback loop in telerobotics operations over various network topologies in commodity networks, focusing on end-to-end and robot processing latencies. We specifically examined two key control streams: the camera feed, which provides the operator with a visual representation of the robot's environment, and the control communications between the operator and the robot. Through this analysis, we identified the major contributing latency factors, offering valuable insights that pave the way for our future research into optimizing the user experience under varying quality of service (QoS) conditions, particularly regarding the latency and reliability of the communication channels. As we have shown in the results section above, we identified and quantified the latency components for both the camera feed and the control feed. We further classified the constituent latencies as network-independent and network-dependent. We also showed that out of the tested topologies, all except the overseas scenario fall within acceptable latency limits for teleoperations, but we also observed that there is a significant opportunity for improvement regarding network latency. We also found that in virtually all of the environments we evaluated, the network latency is the primary contributing factor to the overall end-to-end latency and, thus, the user experience.Additionally, these results help outline the required controls and the need for further research in order to achieve reliable near-presence telerobotic controls over commodity networks, which is the focus of our ongoing efforts. These results offer insight into the current network conditions a teleoperator may encounter during telerobotics operations. As part of our future work, we will expand on these efforts to further characterize the required latency for operators of varying experience, provide recommendations on network requirements for different telerobotic areas, and perform in-depth studies of video transmissions and sensor data feeds necessary for teleoperations. Our tests show high communication reliability and stable latency over vast distances, which outline the feasibility of successful teleoperations in commercial networks. Investigation, N.B., M.B., H.S., T.H., M.S. and T.S. ; writing--original draft preparation, N.B., M.B., M.H. and H.S. ; writing--review and editing, N.B., M.B., M.H., H.S., T.H. and M.S. ; supervision, H.S., M.H. and T.H.