System for and method of motion and force synchronization with time delay reduction in multi-user shared virtual environments

摘要

Systems, methods and computer-executable code stored on computer readable media for synchronizing the evolving state of a dynamic object in a shared virtual environment among a plurality of geographically separated computers connected in a communications network including data communications links introducing time delays in the propagation of data between said computers. The synchronization scheme utilizes an advanced feedback controller to compensate for the state error between sites, comprised of a linear compensator and a Smith predictor based internal model, to determine correct control forces creating a smooth input while maintaining high levels of responsiveness and consistency. A recovery filter for restoring the natural motion of the virtual object distorted by synchronization control is also described.