  In this paper, we present a user-friendly planetary rover's control system
for low latency surface telerobotic. Thanks to the proposed system, an operator
can comfortably give commands through the control base station to a rover using
commercially available off-the-shelf (COTS) joysticks or by command sequencing
with interactive monitoring on the sensed map of the environment. During
operations, high situational awareness is made possible thanks to 3D map
visualization. The map of the environment is built on the on-board computer by
processing the rover's camera images with a visual Simultaneous Localization
and Mapping (SLAM) algorithm. It is transmitted via Wi-Fi and displayed on the
control base station screen in near real-time. The navigation stack takes as
input the visual SLAM data to build a cost map to find the minimum cost path.
By interacting with the virtual map, the rover exhibits properties of a Cyber
Physical System (CPS) for its self-awareness capabilities. The software
architecture is based on the Robot Operative System (ROS) middleware. The
system design and the preliminary field test results are shown in the paper.
