说明：  提出了一种基于移动通信网的多机器人遥操作方案，榔决了在恶劣的移动环境中如何保证系统稳定性，并 进行具有实时力觉、视觉反馈的双向遥操作等问题。其中通过比较现存的各种视频压缩标准，结合关键帧提取、帧 分割等技术，提出了一种移动网中的实时视频传输方案。一系列室外机器人群编队行进实验验证了方案的有效性
(Abstract：A prototype system for controlling multi-robot via the mobile communication networks was pmsented．In spite of severe network environment，the proposed project guarantees the stability of the system first and bilateral teleoperation with real—time haptic and video feedback was provided．Based on experimental investigation and comparison of existing video codec standards，a me~od using key flame extraction。frame split，etc，had been developed to trans~r smoo~ video stream through mobile networks．Experiments of multi—robot formation have be en carried out to demonstrate usefulness of the developed system．)