Vol.13, No.1, February 2024.                                                                                                                                                                               ISSN: 2217-8309

                                                                                                                                                                                                                        eISSN: 2217-8333


TEM Journal



Association for Information Communication Technology Education and Science

Virtual Tour Using Telepresence Robot and MQTT Protocol


Aleksandar Velinov, Natasa Koceska, Saso Koceski


© 2024 Natasa Koceska, published by UIKTEN. This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License. (CC BY-NC-ND 4.0)


Citation Information: TEM Journal. Volume 13, Issue 1, Pages 750-756, ISSN 2217-8309, DOI: 10.18421/TEM131-78, February 2024.


Received: 03 November 2023.

Revised:   12 December 2023.
Accepted: 06 February 2024.
Published: 27 February 2024.




We often face obstacles to visit certain places, facilities, and institutions. This was especially noticeable during the COVID-19 pandemic. In this period telepresence applications were of exceptional importance. They supported communications and provided social interactions, enriching our lives during isolation. In this paper, we propose a solution for telepresence using Padbot U1 robot and the MQTT protocol. The idea is to use this solution for virtual tours in museums, art galleries, historical sites, etc. We have developed two different applications. One is a client application used by the visitor, for controlling the robot remotely. The other application is for the mobile device (tablet) attached to the robot, which is used to enable telepresence and to forward control commands to the robot. By scanning the QR codes placed on the objects, visitors can also get specific information about each of objects. Communication between applications (sending commands and receiving information for objects) is realized with the MQTT protocol. For the developed solution, we also conducted experiments to evaluate some basic criteria for VTs.


Keywords –Virtual tour (VT), robot telepresence, MQTT protocol.



Full text PDF >  



Copyright © 2024 UIKTEN
Copyright licence: All articles are licenced via Creative Commons CC BY-NC-ND 4.0 licence