This paper is focussed on the presentation of the functionalities and the architecture of a real time environment (RTE) dedicated to the mission programming of telerobotics systems. This environment constitutes a framework providing the human operator with tools for the preparation, the simulation and the execution of missions in non- cooperative environment. To overcome the delay time and to realize a mission with a minimum cost and the minimum safety, the preparation phase and the simulation phase of a mission are essential to obtain a well-tried scenario dedicated to the execution phase. An application that consists of teleoperating, in known and structured outdoor environment, a mobile manipulator is also presented.
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