Resumen
Federated remote laboratories allow for the execution of experiments ex situ. The coordination of several laboratories can be used to perform concurrent experiments of combined space operations. However, the latency of the communications between facilities is critical to performing adequate real-time experiments. This paper presents an approach for conducting coordinated experiments between floating platforms at two remote laboratories. Two independently designed platforms, one at Luleå University of Technology and the other at La Sapienza University of Rome, were established for this purpose. A synchronization method based on the Simple Network Time Protocol was created, allowing the offset and delay between the agents to be measured.Both platforms exchange data about their measured time and pose through a UDP/IP protocol over the internet. This approach was validated with the execution of simulated operations. A first demonstrative experiment was also performed showing the possibility to realize leader/follower coordinated operations. The results of the simulations and experiments showed communication delays on the order of tens of milliseconds with no significant impact on the control performance. Consequently, the suggested protocol was proven to be adequate for conducting coordinated experiments in real time between remote laboratories.