# Parameterization and Design of Telepresence Robot to Avoid Obstacles
## 2 Background  
One must choose a technology whose deployment is easy and is quickly understandable by the third-party user. If the user is familiar with the technology and getting acquainted, then no operational manual is required to perform a complex task. This is usually demanded in many fields, including plays, mobile applications, computer programs and robotics. In teleoperating devices such as telepresence robots, the communication interface plays a vital role in controlling the robots [19]. In the healthcare system field, master-slave robots (as a slave) work under the command of an expert (master). The additional usability feature could be an important feature by which many experts from various fields can operate the robots as per their demands or requirement efficiently and flexibly [20; 21; 22; 23; 24; 25]. The following examples are where experts in many applications can employ these robots. Medicine is one of the important areas that took advantage of teleoperated systems. The crucial objective is to enhance the performance using the teleoperated robots with good precision and accuracy. These teleoperated robots are becoming more common in microsurgery and minimally invasive surgery [26; 27]. Another application area is virtual reality (VR) [27], used for training purposes [28] and simulations [29], which provides more sophisticated knowledge. The military is another area where these teleoperated systems are deployed. The major objective of using robots in this area is to protect human beings from being harmed in high-risk and dangerous situations. To perform such tasks is even crucial, and it is vital to spend less time obtaining the knowledge of the situation [30]. Other similar applications, such as retrieving casualties in battle [10; 11; 21] or detecting chemicals, gas or radiation [30; 31], are also found. Many such systems are employed for many useful purposes, e.g., rescuing people from hazardous situations (fire or collapsed buildings) [32]. Understanding and evaluating the implementation of healthcare interventions in practice is an important problem for healthcare managers and policy-makers [20], and increasingly for patients and others who must operationalize them beyond formal clinical settings [21; 22]. Robots are often the only way to explore and manipulate objects in hostile and remote areas. Traditional application areas are space exploration and processing plants for radioactive materials [10]. The advanced concepts for remote control approaches  
Figure 1: Monster Truck HPI Savage 2.1 with robot attachment. have been realized and are based on combinations of information processing methods with control approaches [23; 24]. The increasing capabilities of telematics (telecommunication + informatics) infrastructure, in particular services provided via the Internet, enable nowadays a broad spectrum of commercially interesting applications of these techniques, including telemaintenance of equipment in industrial production or tele-education based on remote experimental facilities [25]. Telematics technologies enable the provision of a continuously growing spectrum of services at remote locations. Major applications are industrial automation, telerobotics for hazardous environments, spacecraft telemetry and telecommand, traffic control, smart homes, tele-education and telemedicine [13; 15]. It is known that the necessity of designing truly autonomous robots comes from highly demanding applications (e.g., undersea intervention, planetary exploration, working in nuclear plants, and the coronavirus disease of 2019 (COVID-19)) [12; 27; 27]. Since when working in such application fields, any repairing intervention is excluded, the need for total technological autonomy is obvious. Furthermore, the dialogue with the end user is reduced to mission specification and, when possible, very few high-level communications. This means almost total operational autonomy is also required, especially in perception, decision and control.